Livestock location system

ABSTRACT

In a headlock system having a plurality of n headlock cells, each of the n cells being adapted to enclose at least one animal; n is an integer greater than 1; a system for locating the position of at least one animal, the system comprising: at least one identification means adapted to transmit at least one identification signal associated with said at least one animal; at least one locating means adapted to generate at least one location signal associated with said at least one animal; and, a data processing system in communication with said at least one identification means and said at least one locating means, adapted to analyze said signals, said analyzed signals comprising the position within a predetermined region in said headlock system of each of said at least one animals as a function of time.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation-in-Part of PCT InternationalApplication Number PCT/IL2015/050273, filed on 15 Mar. 2015, whichclaims priority from U.S. Provisional Application No. 61/970,379, filedon 26 Mar. 2015. Both of the applications are hereby incorporated byreference in their entirety.

FIELD OF THE INVENTION

The present invention generally pertains to a system and method forlocating and monitoring livestock.

BACKGROUND OF THE INVENTION

The present invention generally pertains to a system and method forlocating and monitoring livestock.

Typically, cows are milked in a milking parlor, an isolated room orseparate building to which cows kept on a loose-housing system are takenfor milking Milking parlors typically comprise an area into which thecows enter prior to milking, a number of cells or stalls in which theanimals are retrained during milking, and an area into which the cowsexit after milking.

A farmer will be interested in knowing whether milking cells areoccupied, so that cells remain empty for as short a time as is feasibleand milking is completed as quickly as possible, both to reduce thecows' discomfort prior to milking and to use the milking parlor the mostefficiently. Furthermore, knowing that a cell has emptied enables farmpersonnel to clean milking machines associated with the cell morequickly, if needed, or to clean the cell itself.

Because of the need to know the milking status of cows and,increasingly, the desire to have products such as milk traceable to thecow that provided the product, there is a need for the farmer or stockkeeper to know where each cow is as a function of time. Therefore, hewill want to know the cell in which each cow was milked, which willenable him to link the amount of milk and the quality of the milk to theindividual cow.

The prior art discloses systems in which there exist identificationmeans on each cow and location means on each milking cell or otheranimal holding cell such as a stall or pen.

In prior-art systems, typically, matched identification means andlocation means are used. Typical examples include an RFID tag on theanimal and an RFID reader in the cell, a coded IR emitting tag on theanimal and an IR sensor in the cell, and a “dumb” tag on the animal andan optical reader in the cell, although there are many other suchsystems known in the art. In all of these systems, when a cow enters acell, the location means (such as the RFID reader) in the cell reads theidentification means (such as the RFID tag) on the animal, therebyidentifying that a specific animal has entered a specific cell.

However, in prior-art systems, every time the layout of a milking parloris changed, the location means must be changed to match the new layout.This will involve some combination of moving the location means,re-wiring the milking parlor, and, if the number of cells in increased,providing new location means. Care will need to be taken that thelocation means do not interfere with each other and that structures inthe milking parlor do not interfere with the operation of the locationmeans. For example, care would need to be taken to ensure that nothingblocked the line-of-sight between a “dumb” tag on the animal and anoptical reader in the cell. Another major issue that needs to be takeninto consideration is the costs for the construction and maintenance ofthe same.

In addition, care will need to be taken that any new location meanswhich are provided are compatible with the rest of the system.

Thus, there is a long felt need for a system for locating a cow or otherlivestock animal which does not require a location means per milkingcell.

Yet another required need is for a system for locating livestock animal(e.g., a cow) which does not require location means per yoke cells (orheadlock) in a headlock system. In that manner, once the farmer knownthe exact location of each animal, he can provide the same with thededicated treatment required.

Farmers also desire to track cows' movements in barns, pens or fields inorder to determine the cows' status; unusual behavior can indicateunwellness in the animal and the sooner an unwell animal is identifiedand treated, the more likely it is that the animal will show goodrecovery and, in general, the smaller will be the cost of the treatment.Furthermore, the more quickly the animal is treated, the smaller is thelikely effect on the animal's milk production. Unusual behavior can alsoindicate problems within a herd, such as two animals fighting or thepresence of dangerous animals, such as dogs, too close to the cows.

Farmers also desire to move cows. For example, dairy cow farmers'livelihood depends on the milk produced by their dairy cows. A dairy cowis commonly milked twice to four times a day. Most cows enter themilking parlor at milking time of their own will. However, some cowstend to remain in their places, commonly recumbent and reluctant to getup and do not enter the milking parlor so that the farmer must approacheach individual cow and drive the cow towards and into the milkingparlor.

This activity consumes much effort and time and some farmers commonlyrefrain from actively retrieving such cows which results in the cowmissing the round of milking. Over time, the cumulative effect of cowsmissing rounds of milking is expressed in a reduction in the overalldairy farm milk production and loss of income.

Existing automatic herd control systems manipulate (open and close)gates guiding walking cows into a desired location (e g , milkingstalls) and various functions such as washing cow's udders, preventingmounting or body elevation and driving cows out of a stall. However,currently, a solution for automatically retrieving reluctant dairy cowsis not yet available on the market.

Therefore, there is a long-felt need for a system for monitoring andtracking herd animals' movements when the animals are kept on aloose-housing system and are in barns, pens or fields which is alsocapable of moving the cows from one location to another.

Furthermore, there is a long felt need for a system for monitoring andtracking herd animals for providing them with health treatment as wellas for detection of estrus and insemination.

SUMMARY OF THE INVENTION

It is an object of the present invention to disclose a system forlocating livestock.

It is one object of the present invention to disclose, in a headlocksystem having a plurality of n headlock cells, each of the n cells beingadapted to enclose at least one animal; n is an integer greater than 1;a system for locating the position of at least one animal, the systemcomprising:

-   -   a. at least one identification means adapted to transmit at        least one identification signal associated with said at least        one animal;    -   b. at least one locating means adapted to generate at least one        location signal associated with said at least one animal; and    -   c. a data processing system in communication with said at least        one identification means and said at least one locating means,        adapted to analyze said signals, said analyzed signals        comprising the position within a predetermined region in said        headlock system of each of said at least one animals as a        function of time.

It is another object of the present invention to disclose the system asdefined above, wherein said position is at least one of said n cells.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said headlock system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said headlocksystem.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said headlock system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

It is another object of the present invention to disclose the system asdefined above, wherein said system identifies said position of said atleast one animal without use of location means associated with each ofsaid n cells.

It is another object of the present invention to disclose the system asdefined above, wherein at least one said identification means isassociated with each of said animals

It is another object of the present invention to disclose the system asdefined above, wherein said association between said identificationmeans and said animal is by means of a mechanism selected from a groupconsisting of a tag, a collar, being coupled to the nasal area of saidanimal, an implantable transponder, a bolus, a microchip, an RFID tag,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said identification means is associated with saidat least one animal by a means selected from a group consisting of:being worn on a collar, being coupled to the nasal area of said animal,collar, being worn on a body band, attached to said animal, implantedwithin said animal, held within said animal's digestive system, heldwithin said animal's reproductive system, held within said animal'surinary system, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein movement of at least one said animal is trackableby means of said at least one identification means, said at least onelocating means and said data processing system.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one RF transmitter and at least one RF receiver.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one ultra-wide-band (UWB) transmitter and at least one UWBreceiver.

It is another object of the present invention to disclose the system asdefined above, wherein said animals are milking animals.

It is another object of the present invention to disclose the system asdefined above, wherein the type of animal is selected from a groupconsisting of cows, sheep, goats, horses, buffalo, bison, camels,donkeys, mules, swine, deer, elk, llamas, alpacas and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one animal's position is selectedfrom a group consisting of: the n^(th) cell within said headlock system,xyz position within a predetermined region in said headlock system, xyzposition relative to a fixed object, xyz position relative to at leastone other said animal, change in xyz position within said predeterminedregion in said headlock system, change in xyz position relative to afixed object, change in xyz position relative to at least one other saidanimal, speed of change in xyz position within said predetermined regionin said headlock system, speed of change in xyz position relative to afixed object, speed of change in xyz position relative to at least oneother said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system further comprises at least onemechanism for informing a user of at least one of a group consisting of:said at least one animal's position, change in said at least oneanimal's position, said animal's position with respect to a fixedobject, change in said animal's position with respect to a fixed object;said animal's position relative to a moving object; change in saidanimal's position relative to a moving object; how said animal walks,change in how said animal walks, how fast said animal walks, change inhow fast said animal walks, behavior of said animal, change in behaviorof said animal, behavior pattern of said animal, change in behaviorpattern of said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, based upon the location of said animal, anautomatic entrance into and out of at least one of said n headlock cellis provided.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior of said animal is selected from agroup of behaviors consisting of: fraction of time spent walking, changein fraction of time spent walking, fraction of time spent running,change in fraction of time spent running, limping, fraction of timespent lying down, change in fraction of time spent lying down, fractionof time spent standing, change in fraction of time spent standing,fraction of time spent eating, change in fraction of time spent eating,fraction of time spent drinking, change in fraction of time spentdrinking, fraction of time spent at least one predetermined distancerange from at least one other animal, change in fraction of time spentat least one predetermined distance range from at least one otheranimal, fraction of time spent in at least one predetermined positionrelative to at least one fixed object, change in fraction of time spentin at least one predetermined position relative to at least one fixedobject, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said times changes by at least apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said changes in times is greater than apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, additionally comprising at least one mechanism forinforming said of the location of said animal with respect to thelocation of said user, thereby enabling said user to approach saidanimal

It is another object of the present invention to disclose the system asdefined above, wherein said at least one mechanism for informing saiduser is selected from a group consisting of: a display within saidsystem, a display in the vicinity of said system, a display in thevicinity of said locating means, a remote display, a display on apersonally carryable device, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said personally carryable device is selected froma group consisting of a cellphone, a Bluetooth device, an earphone, acommunication device attachable to the arm, a communication deviceattachable to the waist, a communication device attachable to a belt, acommunication device attachable to a head, a communication device wornaround the neck, a communication device worn on the hand, GoogleGlasses, a helmet comprising a communication device, a heads-up display,an EyeTap, a Golden-i, a virtual retinal display, a GlassUp, an iOptik,a beeper, a handheld computer, a personal digital assistant, asmartphone, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said display is selected from a member of a groupconsisting of: an e-mail, a text message, an image, an audible message,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, additionally comprising means to communicate with a userat least one member of a group consisting of: identity of said animal,location of said animal, location of said animal as a function of time,location of said animal relative to said user, health status of saidanimal, behavioral status of said animal, estrus status of said animal,treatment required to provide said animal and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said health status is selected from a groupconsisting of: animal currently in normal condition, animal's conditioncurrently not normal.

It is another object of the present invention to disclose the system asdefined above, wherein said animal's condition is currently not normalfor a reason selected from a group consisting of: abnormal temperaturein said quarter of said udder, said quarter of said udder is inflamed,said quarter of said udder is abnormally swollen, said animal is lame,identity of lame limb, abnormal temperature of said animal, weight ofsaid animal has changed by more than a predetermined amount, animal isin estrus, amount of head-shaking of said animal has changed by morethan a predetermined amount, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said means to communicate with said user isselected from a group consisting of: said display, a paper record.

It is another object of the present invention to disclose the system asdefined above, additionally comprising an indicator mechanism such thatsaid user can be notified that intervention is needed for at least onesaid animal.

It is another object of the present invention to disclose the system asdefined above, wherein said indicator is selected from a member of agroup consisting of a visual indicator, an audible indicator, a tactileindicator, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is selected from a groupconsisting of a constant—pitch sound, a constant—loudness sound, avarying-pitch sound, a varying-loudness sound, a sound of apredetermined pattern, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in said audible indicator is selectedfrom a group consisting of: said loudness of said audible indicatorchanges, said pitch of said audible indicator changes, the rapidity ofchange of said loudness changes, the rapidity of change of said pitchchanges, the predetermined sound pattern changes and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is selected from a groupconsisting of light of a constant, predetermined color, a light withcolor varying in a predetermined manner, a light varying in brightness,light of a predetermined pattern and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in visual indicator is selected froma group consisting of: change in brightness of the indicator, change incolor of the indicator, change in rapidity of brightness change, changein rapidity of color change, change in predetermined color pattern andany combination thereof.

It is one object of the present invention to disclose, in a milkingparlor having a plurality of n milking cells, each of the n cells beingadapted to enclose at least one animal; n is an integer greater than 1;a system for locating the position of at least one animal, the systemcomprising:

-   -   a. at least one identification means adapted to transmit at        least one identification signal associated with said at least        one animal;    -   b. at least one locating means adapted to generate at least one        location signal associated with said at least one animal; and    -   c. a data processing system in communication with said at least        one identification means and said at least one locating means,        adapted to analyze said signals, said analyzed signals        comprising the position within a predetermined region in said        milking parlor of each of said at least one animals as a        function of time.

It is another object of the present invention to disclose the system asdefined above, wherein said position is at least one of said n milkingcells.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

It is another object of the present invention to disclose the system asdefined above, wherein said system identifies said position of said atleast one animal without use of location means associated with each ofsaid n milking cells.

It is another object of the present invention to disclose the system asdefined above, wherein at least one said identification means isassociated with each of said animals

It is another object of the present invention to disclose the system asdefined above, wherein said association between said identificationmeans and said animal is by means of a mechanism selected from a groupconsisting of a tag, a collar, being coupled to the nasal area of saidanimal, an implantable transponder, a bolus, a microchip, an RFID tag,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said identification means is associated with saidat least one animal by a means selected from a group consisting of:being worn on a collar, being worn on a body band, being coupled to thenasal area of said animal, attached to said animal, implanted withinsaid animal, held within said animal's digestive system, held withinsaid animal's reproductive system, held within said animal's urinarysystem, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein movement of at least one said animal is trackableby means of said at least one identification means, said at least onelocating means and said data processing system.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one RF transmitter and at least one RF receiver.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one ultra-wide-band (UWB) transmitter and at least one UWBreceiver.

It is another object of the present invention to disclose the system asdefined above, wherein said animals are milking animals.

It is another object of the present invention to disclose the system asdefined above, wherein the type of animal is selected from a groupconsisting of cows, sheep, goats, horses, buffalo, bison, camels,donkeys, mules, swine, deer, elk, llamas, alpacas and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system further comprises sensors.

It is another object of the present invention to disclose the system asdefined above, wherein said sensors are located in a position selectedfrom a group consisting of: on the milking robot, on the milking stall,on a cattle stall, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said sensors are selected from a group consistingof: heat sensors, pressure sensors, temperature sensors, flow sensors,fat sensors, protein sensors, light sensors, and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said sensors measure body temperature of saidanimal, temperature of a quarter of said animal, flow rate of milk, fatcontent of said milk, opacity of said milk, protein content of saidmilk, weight of said animal, milks temperature, and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each individual animal, at least one memberof a group consisting of the following is determined: quantity of themilk, quality of the milk and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein milking is stopped at such time as there hasoccurred at least one condition selected from a group consisting of:said animal has yielded a quantity of said milk substantially equal tothe average quantity from previous makings, the flow of said milk hassubstantially decreased.

It is another object of the present invention to disclose the system asdefined above, wherein said milk quality is determinable from lighttransmission through said milk, specific gravity of said milk, amount ofsugar in said milk, amount of fat in said milk, amount of protein insaid milk, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein at least one of a group consisting of: saidquality of said milk, said quantity of said milk, said quality of saidmilk as a function of time, said quantity of said milk as a function oftime, changes in said quality of said milk, changes in said quantity ofsaid milk, changes in said quality of said milk as a function of time,changes in said quantity of said milk as a function of time, and anycombination thereof is storable in said processor.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one animal's position is selectedfrom a group consisting of: the n^(th) cell within said system, xyzposition within a predetermined region in said milking parlor, xyzposition relative to a fixed object, xyz position relative to at leastone other said animal, change in xyz position within said predeterminedregion in said milking parlor, change in xyz position relative to afixed object, change in xyz position relative to at least one other saidanimal, speed of change in xyz position within said predetermined regionin said milking parlor, speed of change in xyz position relative to afixed object, speed of change in xyz position relative to at least oneother said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system further comprises at least onemechanism for informing a user of at least one of a group consisting of:said at least one animal's position, change in said at least oneanimal's position, said animal's position with respect to a fixedobject, change in said animal's position with respect to a fixed object;said animal's position relative to a moving object; change in saidanimal's position relative to a moving object; how said animal walks,change in how said animal walks, how fast said animal walks, change inhow fast said animal walks, behavior of said animal, change in behaviorof said animal, behavior pattern of said animal, change in behaviorpattern of said animal, quantity of milk from said animal, quality ofmilk from said animal and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, based upon the location of said animal, anautomatic entrance into and out of said milking parlor is provided.

It is another object of the present invention to disclose the system asdefined above, wherein, once a predetermined quantity of said milk ismilked from said animal or after a predetermined amount of time, anautomatic release of said animal from said milking parlor is provided.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior of said animal is selected from agroup of behaviors consisting of: fraction of time spent walking, changein fraction of time spent walking, fraction of time spent running,change in fraction of time spent running, limping, fraction of timespent lying down, change in fraction of time spent lying down, fractionof time spent standing, change in fraction of time spent standing,fraction of time spent eating, change in fraction of time spent eating,fraction of time spent drinking, change in fraction of time spentdrinking, fraction of time spent at least one predetermined distancerange from at least one other animal, change in fraction of time spentat least one predetermined distance range from at least one otheranimal, fraction of time spent in at least one predetermined positionrelative to at least one fixed object, change in fraction of time spentin at least one predetermined position relative to at least one fixedobject, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said times changes by at least apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said changes in times is greater than apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior pattern of said animal isdeterminable from said behavior of said animal, from said temperature ofsaid animal, from said temperature of said quarter of said animal, andany combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior pattern of said animal is selectedfrom a group consisting of: animal behaves normally, animal in estrus,animal acts lame, animal acts listless, animal acts restless, and anycombination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein at least one said mechanism for informing saiduser informs said user of the location of said animal with respect tothe location of said user, thereby enabling said user to approach saidanimal.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one mechanism for informing saiduser is selected from a group consisting of: a display within saidmilking parlor, a display in the vicinity of said milking parlor, adisplay in the vicinity of said locating means, a remote display, adisplay on a personally carryable device, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said personally carryable device is selected froma group consisting of a cellphone, a Bluetooth device, an earphone, acommunication device attachable to the arm, a communication deviceattachable to the waist, a communication device attachable to a belt, acommunication device attachable to a head, a communication device wornaround the neck, a communication device worn on the hand, GoogleGlasses, a helmet comprising a communication device, a heads-up display,an EyeTap, a Golden-i, a virtual retinal display, a GlassUp, an iOptik,a beeper, a handheld computer, a personal digital assistant, asmartphone, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said display is selected from a member of a groupconsisting of: an e-mail, a text message, an image, an audible message,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, after completion of milking, release of anindividual animal from its milking stall occurs in a manner selectedfrom a group consisting of: milking of said individual animal iscomplete; milking of all animals in a predetermined group is complete,treatment of said individual animal is complete, treatment of allanimals needing treatment is complete and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each said at least one animal, said systemdetermines a member of a group consisting of: that said individualanimal has entered said milking parlor, that said individual animal hasentered a milking stall, the stall in which said individual animal ismilked, that said individual animal has left the milking stall, thatsaid individual animal has left said milking parlor, and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each said at least one animal, said systemdetermines a member of a group consisting of: the time said individualanimal enters said milking parlor, the time said individual animalenters said milking stall, the time said individual animal leaves saidmilking stall, the time said individual animal leaves said milkingparlor, the amount of time said individual animal is in said milkingparlor, the amount of time said individual animal is in said milkingstall, the amount of milk given by said individual animal, the number ofanimals in said milking parlor at any time, the location of saidindividual animal at any given time, the relative locations of at leasttwo said animals, the distance between said individual animal and atleast one other animal, the average distance between said individualanimal and a predetermined group of animals, the average distancebetween two animals in said predetermined group of animals, and anycombination thereof.

It is another object of the present invention to disclose the system asdefined above, additionally comprising means to communicate with a userat least one member of a group consisting of: identity of said animal,location of said animal, location of said animal as a function of time,location of said animal relative to said user, health status of saidanimal, behavioral status of said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said health status is selected from a groupconsisting of: animal currently in normal condition, animal's conditioncurrently not normal.

It is another object of the present invention to disclose the system asdefined above, wherein said animal's condition is currently not normalfor a reason selected from a group consisting of: abnormal temperaturein said quarter of said udder, said quarter of said udder is inflamed,said quarter of said udder is abnormally swollen, said animal is lame,identity of lame limb, abnormal temperature of said animal, weight ofsaid animal has changed by more than a predetermined amount, animal isin estrus, amount of head-shaking of said animal has changed by morethan a predetermined amount, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said means to communicate with said user isselected from a group consisting of: said display, a paper record.

It is another object of the present invention to disclose the system asdefined above, additionally comprising an indicator mechanism such thatsaid user can be notified that intervention is needed for at least onesaid animal.

It is another object of the present invention to disclose the system asdefined above, wherein said intervention is needed for a reason selectedfrom a group consisting of: animal's condition is currently not normal,milking completed, animal fighting, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said indicator is selected from a member of agroup consisting of a visual indicator, an audible indicator, a tactileindicator, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is selected from a groupconsisting of a constant—pitch sound, a constant—loudness sound, avarying-pitch sound, a varying-loudness sound, a sound of apredetermined pattern, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in said audible indicator is selectedfrom a group consisting of: said loudness of said audible indicatorchanges, said pitch of said audible indicator changes, the rapidity ofchange of said loudness changes, the rapidity of change of said pitchchanges, the predetermined sound pattern changes and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is selected from a groupconsisting of light of a constant, predetermined color, a light withcolor varying in a predetermined manner, a light varying in brightness,light of a predetermined pattern and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in visual indicator is selected froma group consisting of: change in brightness of the indicator, change incolor of the indicator, change in rapidity of brightness change, changein rapidity of color change, change in predetermined color pattern andany combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system is adapted to discontinue milkingwhen the amount of milk removed from said cow is substantially equal toa predetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein said predetermined amount is equal to the averageof the amounts of milk produced by said animal during a plurality ofmilking sessions.

It is another object of the present invention to disclose a system forlocating the position of at least one said animal within a predeterminedregion of space, said system comprising

-   -   a. at least one identification means adapted to transmit at        least one identification signal associated with said at least        one animal;    -   b. at least one locating means adapted to generate at least one        location signal associated with said at least one animal; and,    -   c. a data processing system in communication with said at least        one identification means and said at least one locating means,        adapted to analyze said signals, said analyzed signals        comprising the position within said predetermined region of        space of each said at least one animal as a function of time.

It is another object of the present invention to disclose the system asdefined above, wherein said region of space is selected from a groupconsisting of: a milking parlor, headlock system, a barn, a shed, afield, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said position is at least one of n milking cellswithin said milking parlor, or n headlock cell within said headlocksystem, n is an integer greater than one.

It is another object of the present invention to disclose the system asdefined above, wherein said system identifies said position of said atleast one animal without use of location means associated with each ofsaid n milking cells or n headlock cell.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

It is another object of the present invention to disclose the system asdefined above, wherein at least one said identification means isassociated with each of said animals

It is another object of the present invention to disclose the system asdefined above, wherein said association between said identificationmeans and said animal is by means of a mechanism selected from a groupconsisting of a tag, a collar, being coupled to the nasal area of saidanimal, an implantable transponder, a bolus, a microchip, an RFID tag,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said identification means is associated with saidat least one animal by a means selected from a group consisting of:being worn on a collar, being coupled to the nasal area of said animal,being worn on a body band, attached to said animal, implanted withinsaid animal, held within said animal's digestive system, held withinsaid animal's reproductive system, held within said animal's urinarysystem, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein movement of at least one said animal istrackable.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one RF transmitter and at least one RF receiver.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one ultra-wide-band (UWB) transmitter and at least one UWBreceiver.

It is another object of the present invention to disclose the system asdefined above, wherein said animals are milking animals.

It is another object of the present invention to disclose the system asdefined above, wherein the type of animal is selected from a groupconsisting of cows, sheep, goats, horses, buffalo, bison, camels,donkeys, mules, swine, deer, elk, llamas, alpacas and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system further comprises sensors.

It is another object of the present invention to disclose the system asdefined above, wherein said sensors are located in a position selectedfrom a group consisting of: on a milking robot, on a milking stall, on acattle stall, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said sensors are selected from a group consistingof: heat sensors, pressure sensors, temperature sensors, flow sensors,fat sensors, protein sensors, light sensors, and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said sensors measure body temperature of saidanimal, temperature of a quarter of said animal, flow rate of milk, fatcontent of said milk, opacity of said milk, protein content of saidmilk, weight of said animal, milks temperature and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each individual animal, at least one memberof a group consisting of the following is determined: quantity of themilk, quality of the milk and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein milking is stopped at such time as there hasoccurred at least one condition selected from a group consisting of:said animal has yielded a quantity of said milk substantially equal tothe average quantity from previous makings, the flow of said milk hassubstantially decreased.

It is another object of the present invention to disclose the system asdefined above, wherein said milk quality is determinable from lighttransmission through said milk, specific gravity of said milk, amount ofsugar in said milk, amount of fat in said milk, amount of protein insaid milk, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein at least one of a group consisting of: saidquality of said milk, said quantity of said milk, said quality of saidmilk as a function of time, said quantity of said milk as a function oftime, changes in said quality of said milk, changes in said quantity ofsaid milk, changes in said quality of said milk as a function of time,changes in said quantity of said milk as a function of time, and anycombination thereof is storable in said data processor.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one animal's position is selectedfrom a group consisting of: the n^(th) cell within said system, xyzposition within said predetermined region of space, xyz positionrelative to a fixed object, xyz position relative to at least one othersaid animal, change in xyz position within said predetermined region ofspace, change in xyz position relative to a fixed object, change in xyzposition relative to at least one other said animal, speed of change inxyz position within said predetermined region of space, speed of changein xyz position relative to a fixed object, speed of change in xyzposition relative to at least one other said animal, and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system further comprises a mechanism forinforming a user of at least one of a group consisting of: said at leastone animal's position, change in said at least one animal's position,said animal's position with respect to a fixed object, change in saidanimal's position with respect to a fixed object; said animal's positionrelative to a moving object; change in said animal's position relativeto a moving object; how said animal walks, change in how said animalwalks, how fast said animal walks, change in how fast said animal walks,behavior of said animal, change in behavior of said animal, behaviorpattern of said animal, change in behavior pattern of said animal, andany combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior of said animal is selected from agroup of behaviors consisting of: fraction of time spent walking, changein fraction of time spent walking, fraction of time spent running,change in fraction of time spent running, limping, fraction of timespent lying down, change in fraction of time spent lying down, fractionof time spent standing, change in fraction of time spent standing,fraction of time spent eating, change in fraction of time spent eating,fraction of time spent drinking, change in fraction of time spentdrinking, fraction of time spent at least one predetermined distancerange from at least one other animal, change in fraction of time spentat least one predetermined distance range from at least one otheranimal, fraction of time spent in at least one predetermined positionrelative to at least one fixed object, change in fraction of time spentin at least one predetermined position relative to at least one fixedobject, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said times changes by at least apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said changes in time is greater than apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior pattern of said animal isdeterminable from said behavior of said animal, from said temperature ofsaid animal, from said temperature of said quarter of said animal, andany combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior pattern of said animal is selectedfrom a group consisting of: animal behaves normally, animal in estrus,animal acts lame, animal acts listless, animal acts restless, and anycombination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said mechanism for informing said user informssaid user of the location of said animal with respect to the location ofsaid user, thereby enabling said user to approach said animal

It is another object of the present invention to disclose the system asdefined above, wherein said mechanism for informing said user isselected from a group consisting of: a display in the vicinity of saidpredetermined space, a display in the vicinity of said locating means, aremote display, a display on a personally carryable device, and anycombination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said personally carryable device is selected froma group consisting of a cellphone, a Bluetooth device, an earphone, acommunication device attachable to the arm, a communication deviceattachable to the waist, a communication device attachable to a belt, acommunication device attachable to a head, a communication device wornaround the neck, a communication device worn on the hand, GoogleGlasses, a helmet comprising a communication device, a heads-up display,an EyeTap, a Golden-i, a virtual retinal display, a GlassUp, an iOptik,a beeper, a handheld computer, a personal digital assistant, asmartphone, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said display is selected from a member of a groupconsisting of: an e-mail, a text message, an image, an audible message,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, after completion of milking, release of anindividual animal from its milking stall occurs in a manner selectedfrom a group consisting of: milking of said individual animal iscomplete; milking of all animals in a predetermined group is complete,treatment of said individual animal is complete, treatment of allanimals needing treatment is complete and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each said at least one animal, said systemdetermines a member of a group consisting of: that said individualanimal has entered said milking parlor, that said individual animal hasentered a milking stall, the stall in which said individual animal ismilked, that said individual animal has left the milking stall, thatsaid individual animal has left said milking parlor, and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each said at least one animal, said systemdetermines a member of a group consisting of: the location of saidindividual animal at any given time, the relative locations of at leasttwo said animals, the distance between said individual animal and atleast one other animal, the average distance between said individualanimal and a predetermined group of animals, the average distancebetween two animals in said predetermined group of animals, and anycombination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, for each said at least one animal, said systemdetermines a member of a group consisting of: the time said individualanimal enters said milking parlor, the time said individual animalenters said milking stall, the time said individual animal leaves saidmilking stall, the time said individual animal leaves said milkingparlor, the amount of time said individual animal is in the parlor, theamount of time said individual animal is in said milking stall, theamount of milk given by said individual animal, the number of animals insaid milking parlor at any time, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, additionally comprising means to communicate with a userat least one member of a group consisting of: identity of said animal,location of said animal, location of said animal as a function of time,location of said animal relative to said user, health status of saidanimal, behavioral status of said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said health status is selected from a groupconsisting of: animal currently in normal condition, animal's conditioncurrently not normal.

It is another object of the present invention to disclose the system asdefined above, wherein said animal's condition is currently not normalfor a reason selected from a group consisting of: abnormal temperaturein said quarter of said udder, said quarter of said udder is inflamed,said quarter of said udder is abnormally swollen, said animal is lame,identity of lame limb, abnormal temperature of said animal, weight ofsaid animal has changed by more than a predetermined amount, animal isin estrus, amount of head-shaking of said animal has changed by morethan a predetermined amount, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said means to communicate with said user isselected from a group consisting of: said display, a paper record.

It is another object of the present invention to disclose the system asdefined above, additionally comprising an indicator mechanism such thatsaid user can be notified that intervention is needed for at least onesaid animal.

It is another object of the present invention to disclose the system asdefined above, wherein said intervention is needed for a reason selectedfrom a group consisting of: animal's condition is currently not normal,milking completed, animal fighting, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said indicator is selected from a member of agroup consisting of a visual indicator, an audible indicator, a tactileindicator, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is selected from a groupconsisting of a constant—pitch sound, a constant—loudness sound, avarying-pitch sound, a varying-loudness sound, a sound of apredetermined pattern, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in said audible indicator is selectedfrom a group consisting of: said loudness of said audible indicatorchanges, said pitch of said audible indicator changes, the rapidity ofchange of said loudness changes, the rapidity of change of said pitchchanges, the predetermined sound pattern changes and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is selected from a groupconsisting of light of a constant, predetermined color, a light withcolor varying in a predetermined manner, a light varying in brightness,light of a predetermined pattern and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in visual indicator is selected froma group consisting of: change in brightness of the indicator, change incolor of the indicator, change in rapidity of brightness change, changein rapidity of color change, change in predetermined color pattern, andany combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system is adapted to discontinue milkingwhen the amount of milk removed from said cow is substantially equal toa predetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein said predetermined amount is equal to the averageof the amounts of milk produced by said animal during a plurality ofmilking sessions.

It is another object of the present invention to disclose a method forlocating the position of at least one animal in a headlock system havinga plurality of n headlock cells, each of which cells adapted to encloseat least one animal; n is an integer greater than 1; said methodcomprising steps of:

-   -   (a) providing a system for locating the position of at least one        said animal, said system comprising: (i) at least one        identification means adapted to transmit at least one        identification signal associated with said at least one animal;        at least one locating means adapted to generate at least one        location signal associated with said at least one animal;        and, (iii) a data processing system in communication with said        at least one identification means and said at least one locating        means, adapted to analyze said signals, said analyzed signals        comprising the position within a predetermined region in said        system of each of said at least one animal as a function of        time;    -   (b) transmitting said at least one identification signal;    -   (c) generating said at least one location signal; and,    -   (d) analyzing said at least one identification signal and said        at least one location signal;

thereby determining the position within a predetermined region in saidsystem of each said at least one animal as a function of time.

It is another object of the present invention to disclose the method asdefined above, wherein said position is at least one of said n cells.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said yokes (headlock) system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said yokes(headlock) system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said yokes (headlock) system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

It is another object of the present invention to disclose a method forlocating the position of at least one animal in a milking parlor havinga plurality of n milking cells, each of said cells adapted to enclose atleast one animal; n is an integer greater than 1; said method comprisingsteps of:

-   -   a. providing a system for locating the position of at least one        said animal, said system comprising        -   i. at least one identification means adapted to transmit at            least one identification signal associated with said at            least one animal;        -   ii. at least one locating means adapted to generate at least            one location signal associated with said at least one            animal; and,        -   iii. a data processing system in communication with said at            least one identification means and said at least one            locating means, adapted to analyze said signals, said            analyzed signals comprising the position within a            predetermined region in said milking parlor of each of said            at least one animals as a function of time;    -   b. transmitting said at least one identification signal;    -   c. generating said at least one location signal; and    -   d. analyzing said at least one identification signal and said at        least one location signal, thereby determining the position        within a predetermined region of said milking parlor of each        said at least one animal as a function of time.

It is another object of the present invention to disclose the method asdefined above, wherein said position is at least one of said n milkingcells.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of identifying saidposition of said at least one animal without use of location meansassociated with each of said n milking cells.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of associating at leastone said transmitter with each said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing saidassociation between said transmitter and said animal by means of amechanism selected from a group consisting of a tag, a collar, beingcoupled to the nasal area of said animal, an implantable transponder, abolus, a microchip, an RFID tag, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of associating saidmechanism with said animal by a means selected from a group consistingof: being worn on a collar, being coupled to the nasal area of saidanimal, being worn on a body band, attached to said animal, implantedwithin said animal, held within said animal's digestive system, heldwithin said animal's reproductive system, held within said animal'surinary system, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of tracking movement of atleast one said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said at leastone locating means comprising least one RF transmitter and at least oneRF receiver.It is another object of the present invention to disclosethe method as defined above, additionally comprising a step of selectingsaid at least one locating means comprising least one ultra-wide-band(UWB) transmitter and at least one UWB receiver.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining each saidat least one animal's position within approximately 20 cm.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said animalsto be milking animals.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting the type ofanimal from a group consisting of cows, sheep, goats, horses, buffalo,bison, camels, donkeys, mules, swine, deer, elk, llamas, alpacas and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing said systemwith sensors.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of locating said sensorsin a position selected from a group consisting of: on the milking robot,on the milking stall, on a cattle stall, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said sensorsfrom a group consisting of: heat sensors, pressure sensors, temperaturesensors, flow sensors, fat sensors, protein sensors, light sensors, andany combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of measuring, with saidsensors, body temperature of said animal, temperature of a quarter ofsaid animal, flow rate of milk, milks temperature, fat content of saidmilk, opacity of said milk, protein content of said milk, weight of saidanimal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining, for eachindividual animal, at least one member of a group consisting of:quantity of said milk, quality of said milk and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of stopping milking atsuch time as there has occurred at least one condition selected from agroup consisting of: said animal has yielded a quantity of said milksubstantially equal to the average quantity from previous milkings, theflow of said milk has substantially decreased.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining said milkquality from light transmission through said milk, specific gravity ofsaid milk, amount of sugar in said milk, amount of fat in said milk,amount of protein in said milk, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of storing in saidprocessor at least one of a group consisting of: said quality of saidmilk, said quantity of said milk, said quality of said milk as afunction of time, said quantity of said milk as a function of time,changes in said quality of said milk, changes in said quantity of saidmilk, changes in said quality of said milk as a function of time,changes in said quantity of said milk as a function of time, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said at leastone animal's position from a group consisting of: the n^(th) cell withinsaid system, xyz position within said predetermined region of saidmilking parlor, xyz position relative to a fixed object, xyz positionrelative to at least one other said animal, change in xyz positionwithin said predetermined region of said milking parlor, change in xyzposition relative to a fixed object, change in xyz position relative toat least one other said animal, speed of change in xyz position withinsaid predetermined region of said milking parlor, speed of change in xyzposition relative to a fixed object, speed of change in xyz positionrelative to at least one other said animal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising astep of providing said systemwith a mechanism for informing a user of at least one of a groupconsisting of: said at least one animal's position, change in said atleast one animal's position, said animal's position with respect to afixed object, change in said animal's position with respect to a fixedobject; said animal's position relative to a moving object; change insaid animal's position relative to a moving object; how said animalwalks, change in how said animal walks, how fast said animal walks,change in how fast said animal walks, behavior of said animal, change inbehavior of said animal, behavior pattern of said animal, change inbehavior pattern of said animal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said behaviorof said animal from a group of behaviors consisting of: fraction of timespent walking, change in fraction of time spent walking, fraction oftime spent running, change in fraction of time spent running, limping,fraction of time spent lying down, change in fraction of time spentlying down, fraction of time spent standing, change in fraction of timespent standing, fraction of time spent eating, change in fraction oftime spent eating, fraction of time spent drinking, change in fractionof time spent drinking, fraction of time spent at least onepredetermined distance range from at least one other animal, change infraction of time spent at least one predetermined distance range from atleast one other animal, fraction of time spent in at least onepredetermined position relative to at least one fixed object, change infraction of time spent in at least one predetermined position relativeto at least one fixed object, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of identifying thebehavior of said animal as abnormal if at least one of said timeschanges by more than a predetermined amount.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of identifying thebehavior of said animal as abnormal if at least one of said changes intime is greater than a predetermined amount.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining saidbehavior pattern of said animal from said behavior of said animal, fromsaid temperature of said animal, from said temperature of said quarterof said animal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said behaviorpattern of said animal from a group consisting of: animal behavesnormally, animal in estrus, animal acts lame, animal acts listless,animal acts restless, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of informing said user ofthe location of said animal with respect to the location of said user,thereby enabling said user to approach said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidmechanism for informing said user from a group consisting of: a displayin the vicinity of said transmitter, a display in the vicinity of saidreceiver, a remote display, a display on a personally carryable device,and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidpersonally carryable device from a group consisting of a cellphone, aBluetooth device, an earphone, a communication device attachable to thearm, a communication device attachable to the waist, a communicationdevice attachable to a belt, a communication device attachable to ahead, a communication device worn around the neck, a communicationdevice worn on the hand, Google Glasses, a helmet comprising acommunication device, a heads-up display, an EyeTap, a Golden-i, avirtual retinal display, a GlassUp, an iOptik, a beeper, a handheldcomputer, a personal digital assistant, a smartphone, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said displayfrom a group consisting of: an e-mail, a text message, an image, anaudible message, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, after completion ofmilking, releasing an individual animal from its milking stall in amanner selected from a group consisting of: milking of said individualanimal is complete; milking of all animals in a predetermined group iscomplete, treatment of said individual animal is complete, treatment ofall animals needing treatment is complete and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, for each said at leastone animal, determining a member of a group consisting of: that saidindividual animal has entered said milking parlor, determining that saidindividual animal has entered a milking stall, determining the stall inwhich said individual animal is milked, determining that said individualanimal has left the milking stall, determining that said individualanimal has left said milking parlor and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, for each said at leastone animal, determining a member of a group consisting of: the time saidindividual animal enters said milking parlor, the time said individualanimal enters said milking stall, the time said individual animal leavessaid milking stall, the time said individual animal leaves said milkingparlor, the amount of time said individual animal is in said milkingparlor, the amount of time said individual animal is in said milkingstall, the amount of milk given by said individual animal, the number ofanimals in said milking parlor at any time, the location of saidindividual animal at any given time, the relative locations of at leasttwo said animals, the distance between said individual animal and atleast one other animal, the average distance between said individualanimal and a predetermined group of animals, the average distancebetween two animals in said predetermined group of animals, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing a means tocommunicate with a user at least one member of a group consisting of:identity of said animal, location of said animal, location of saidanimal as a function of time, location of said animal relative to saiduser, health status of said animal, behavioral status of said animal,and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said healthstatus from a group consisting of: animal currently in normal condition,animal's condition currently not normal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining that saidanimal's condition is currently not normal for a reason selected from agroup consisting of: abnormal temperature in said quarter of said udder,said quarter of said udder is inflamed, said quarter of said udder isabnormally swollen, said animal is lame, identity of lame limb, abnormaltemperature of said animal, weight of said animal has changed by morethan a predetermined amount, animal is in estrus, amount of head-shakingof said animal has changed by more than a predetermined amount, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said means tocommunicate with said user from a group consisting of: said display, apaper record.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing an indicatormechanism such that said user can be notified that intervention isneeded for at least one said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting the reasonsaid intervention is needed from a group consisting of: animal'scondition is currently not normal, milking completed, animal fighting,and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidindicator from a member of a group consisting of: a visual indicator, anaudible indicator, a tactile indicator, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said audibleindicator from a group consisting of a constant—pitch sound, aconstant—loudness sound, a varying-pitch sound, a varying-loudnesssound, a sound of a predetermined pattern, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said audibleindicator depending on the reason for the intervention.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said audibleindicator as the distance between said animal and a user changes.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said changein said audible indicator from a group consisting of: said loudness ofsaid audible indicator changes, said pitch of said audible indicatorchanges, the rapidity of change of said loudness changes, the rapidityof change of said pitch changes, the predetermined sound pattern changesand any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said visualindicator from a group consisting of light of a constant, predeterminedcolor, a light with color varying in a predetermined manner, a lightvarying in brightness, light of a predetermined pattern and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said visualindicator depending on the reason for the intervention.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said visualindicator as the distance between said animal and a user changes.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said changein visual indicator from a group consisting of: change in brightness ofthe indicator, change in color of the indicator, change in rapidity ofbrightness change, change in rapidity of color change, change inpredetermined color pattern and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of discontinuing milkingwhen the amount of milk removed from said cow is substantially equal toa predetermined amount.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidpredetermined amount to be equal to the average of the amounts of milkproduced by said animal during a plurality of milking sessions.

It is another object of the present invention to disclose a method forlocating the position of at least one animal in a within a predeterminedregion of space; said method comprising steps of:

-   -   a. providing a system for locating the position of at least one        said animal, said system comprising:        -   i. at least one identification means adapted to transmit at            least one identification signal associated with said at            least one animal;        -   ii. at least one locating means adapted to generate at least            one location signal associated with said at least one            animal; and,        -   iii. a data processing system in communication with said at            least one identification means and said at least one            locating means, adapted to analyze said signals, said            analyzed signals comprising the position within said            predetermined region of space of each of said at least one            animals as a function of time;    -   b. transmitting said at least one identification signal;    -   c. generating said at least one location signal; and    -   d. analyzing said at least one identification signal and said at        least one location signal, thereby determining the position        within said predetermined region of space of each said at least        one animal as a function of time.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said regionof space from a group consisting of: a milking parlor, a yokes(headlock) system, a barn, a shed, a field, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, wherein said position is at least one of n milking cellswithin said milking parlor, or n yokes (headlock) cell within said yokes(headlock) system, n is an integer greater than one.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of identifying saidposition of said at least one animal without use of location meansassociated with each of said n milking cells or n yokes (headlock) cell.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said system.

It is another object of the present invention to disclose the method asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of associating at leastone said transmitter with each said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing saidassociation between said transmitter and said animal by means of amechanism selected from a group consisting of a tag, a collar, beingcoupled to the nasal area of said animal, an implantable transponder, abolus, a microchip, an RFID tag, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of associating saidmechanism with said animal by a means selected from a group consistingof: being worn on a collar, being coupled to the nasal area of saidanimal, being worn on a body band, attached to said animal, implantedwithin said animal, held within said animal's digestive system, heldwithin said animal's reproductive system, held within said animal'surinary system, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of tracking movement of atleast one said animal.

It is another object of the present invention to disclose the method asdefined above, wherein said at least one locating means comprises atleast one RF transmitter and at least one RF receiver.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said at leastone locating means comprising least one ultra-wide-band (UWB)transmitter and at least one UWB receiver.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining each saidat least one animal's position within approximately 20 cm.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said animalsto be milking animals.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting the type ofanimal from a group consisting of cows, sheep, goats, horses, buffalo,bison, camels, donkeys, mules, swine, deer, elk, llamas, alpacas and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing said systemwith sensors.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of locating said sensorsin a position selected from a group consisting of: on the milking robot,on the milking stall, on a cattle stall, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said sensorsfrom a group consisting of: heat sensors, pressure sensors, temperaturesensors, flow sensors, fat sensors, protein sensors, light sensors, andany combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of measuring, with saidsensors, body temperature of said animal, temperature of a quarter ofsaid animal, flow rate of milk, milks temperature, fat content of saidmilk, opacity of said milk, protein content of said milk, weight of saidanimal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining, for eachindividual animal, at least one member of a group consisting of:quantity of said milk, quality of said milk and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of stopping milking atsuch time as there has occurred at least one condition selected from agroup consisting of: said animal has yielded a quantity of said milksubstantially equal to the average quantity from previous milkings, theflow of said milk has substantially decreased.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining said milkquality from light transmission through said milk, specific gravity ofsaid milk, amount of sugar in said milk, amount of fat in said milk,amount of protein in said milk, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of storing in saidprocessor at least one of a group consisting of: said quality of saidmilk, said quantity of said milk, said quality of said milk as afunction of time, said quantity of said milk as a function of time,changes in said quality of said milk, changes in said quantity of saidmilk, changes in said quality of said milk as a function of time,changes in said quantity of said milk as a function of time, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said at leastone animal's position from a group consisting of: the nth cell withinsaid system, xyz position within said predetermined region of saidmilking parlor, xyz position relative to a fixed object, xyz positionrelative to at least one other said animal, change in xyz positionwithin said predetermined region of said milking parlor, change in xyzposition relative to a fixed object, change in xyz position relative toat least one other said animal, speed of change in xyz position withinsaid predetermined region of said milking parlor, speed of change in xyzposition relative to a fixed object, speed of change in xyz positionrelative to at least one other said animal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing said systemwith a mechanism for informing a user of at least one of a groupconsisting of: said at least one animal's position, change in said atleast one animal's position, said animal's position with respect to afixed object, change in said animal's position with respect to a fixedobject; said animal's position relative to a moving object; change insaid animal's position relative to a moving object; how said animalwalks, change in how said animal walks, how fast said animal walks,change in how fast said animal walks, behavior of said animal, change inbehavior of said animal, behavior pattern of said animal, change inbehavior pattern of said animal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said behaviorof said animal from a group of behaviors consisting of: fraction of timespent walking, change in fraction of time spent walking, fraction oftime spent running, change in fraction of time spent running, limping,fraction of time spent lying down, change in fraction of time spentlying down, fraction of time spent standing, change in fraction of timespent standing, fraction of time spent eating, change in fraction oftime spent eating, fraction of time spent drinking, change in fractionof time spent drinking, fraction of time spent at least onepredetermined distance range from at least one other animal, change infraction of time spent at least one predetermined distance range from atleast one other animal, fraction of time spent in at least onepredetermined position relative to at least one fixed object, change infraction of time spent in at least one predetermined position relativeto at least one fixed object, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of identifying thebehavior of said animal as abnormal if at least one of said timeschanges by at least a predetermined amount.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of identifying thebehavior of said animal as abnormal if at least one of said changes intime is greater than a predetermined amount.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining saidbehavior pattern of said animal from said behavior of said animal, fromsaid temperature of said animal, from said temperature of said quarterof said animal, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said behaviorpattern of said animal from a group consisting of: animal behavesnormally, animal in estrus, animal acts lame, animal acts listless,animal acts restless, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of informing said user ofthe location of said animal with respect to the location of said user,thereby enabling said user to approach said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidmechanism for informing said user from a group consisting of: a displayin the vicinity of said transmitter, a display in the vicinity of saidreceiver, a remote display, a display on a personally carryable device,and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidpersonally carryable device from a group consisting of a cellphone, aBluetooth device, an earphone, a communication device attachable to thearm, a communication device attachable to the waist, a communicationdevice attachable to a belt, a communication device attachable to ahead, a communication device worn around the neck, a communicationdevice worn on the hand, Google Glasses, a helmet comprising acommunication device, a heads-up display, an EyeTap, a Golden-i, avirtual retinal display, a GlassUp, an iOptik, a beeper, a handheldcomputer, a personal digital assistant, a smartphone, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said displayfrom a group consisting of: an e-mail, a text message, an image, anaudible message, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, after completion ofmilking, releasing an individual animal from its milking stall in amanner selected from a group consisting of: milking of said individualanimal is complete; milking of all animals in a predetermined group iscomplete, treatment of said individual animal is complete, treatment ofall animals needing treatment is complete and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, for each said at leastone animal, determining a member of a group consisting of: that saidindividual animal has entered said milking parlor, determining that saidindividual animal has entered a milking stall, determining the stall inwhich said individual animal is milked, determining that said individualanimal has left the milking stall, determining that said individualanimal has left said milking parlor and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, for each said at leastone animal, determining a member of a group consisting of: the locationof said individual animal at any given time, the relative locations ofat least two said animals, the distance between said individual animaland at least one other animal, the average distance between saidindividual animal and a predetermined group of animals, the averagedistance between two animals in said predetermined group of animals, andany combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of, for each said at leastone animal, determining a member of a group consisting of: the time saidindividual animal enters said milking parlor, the time said individualanimal enters said milking stall, the time said individual animal leavessaid milking stall, the time said individual animal leaves said milkingparlor, the amount of time said individual animal is in said milkingparlor, the amount of time said individual animal is in said milkingstall, the amount of milk given by said individual animal, the number ofanimals in said milking parlor at any time, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing a means tocommunicate with a user at least one member of a group consisting of:identity of said animal, location of said animal, location of saidanimal as a function of time, location of said animal relative to saiduser, health status of said animal, behavioral status of said animal,and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said healthstatus from a group consisting of: animal currently in normal condition,animal's condition currently not normal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of determining that saidanimal's condition is currently not normal for a reason selected from agroup consisting of: abnormal temperature in said quarter of said udder,said quarter of said udder is inflamed, said quarter of said udder isabnormally swollen, said animal is lame, identity of lame limb, abnormaltemperature of said animal, weight of said animal has changed by morethan a predetermined amount, animal is in estrus, amount of head-shakingof said animal has changed by more than a predetermined amount, and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said means tocommunicate with said user from a group consisting of: said display, apaper record.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of providing an indicatormechanism such that said user can be notified that intervention isneeded for at least one said animal.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting the reasonsaid intervention is needed from a group consisting of: animal'scondition is currently not normal, milking completed, animal fighting,and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidindicator from a member of a group consisting of: a visual indicator, anaudible indicator, a tactile indicator, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said audibleindicator from a group consisting of a constant—pitch sound, aconstant—loudness sound, a varying-pitch sound, a varying-loudnesssound, a sound of a predetermined pattern, and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said audibleindicator depending on the reason for the intervention.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said audibleindicator as the distance between said animal and a user changes.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said changein said audible indicator from a group consisting of: said loudness ofsaid audible indicator changes, said pitch of said audible indicatorchanges, the rapidity of change of said loudness changes, the rapidityof change of said pitch changes, the predetermined sound pattern changesand any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said visualindicator from a group consisting of light of a constant, predeterminedcolor, a light with color varying in a predetermined manner, a lightvarying in brightness, light of a predetermined pattern and anycombination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said visualindicator depending on the reason for the intervention.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of changing said visualindicator as the distance between said animal and a user changes.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting said changein visual indicator from a group consisting of: change in brightness ofthe indicator, change in color of the indicator, change in rapidity ofbrightness change, change in rapidity of color change, change inpredetermined color pattern and any combination thereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of discontinuing milkingwhen the amount of milk removed from said cow is substantially equal toa predetermined amount.

It is another object of the present invention to disclose the method asdefined above, additionally comprising a step of selecting saidpredetermined amount to be equal to the average of the amounts of milkproduced by said animal during a plurality of milking sessions.

It is another object of the present invention to disclose the system asdefined above, additionally comprising an animal retrieval systemcomprising:

-   -   a. (a) at least one elevated rail placed at a height unreachable        by said animal and at least one trolley translatable at least        along said rail, and (b) at least one low-level mobile        maneuvering device, said low-level mobile maneuvering device        adapted to move along at least one of a group consisting of a        floor and the ground, and at least one trolley attachable to        said low-level mobile maneuvering device; and    -   b. at least one animal stimulating device operative to stimulate        said animal to move towards a desired location, said animal        stimulating device attachable to said maneuvering device.

It is another object of the present invention to disclose the system asdefined above, additionally comprising (a) at least one motor propellingthe trolley along the rail; and (b) at least one controller operative toactivate said motor.

It is another object of the present invention to disclose the system asdefined above, additionally comprising at least one transmitter/receiveroperative to receive information from and transmit information to saidsystem.

It is another object of the present invention to disclose the system asdefined above, wherein said animal stimulating device is selected from agroup consisting of a speaker, a low voltage electrical conducting wire,an air gun, a rotating bullwhip, a water gun, a soft ball on a tether,said animal driving fence and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said trolley additionally comprises a member of agroup selected from a carrier arm, an air compressor and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said carrier arm is an articulated arm includingat least two segments connected to each other by a joint.

It is another object of the present invention to disclose the system asdefined above, wherein said carrier arm segments are either connected toeach other at a fixed angle or are rotatably moveable relative to eachother.

It is another object of the present invention to disclose the system asdefined above, wherein at least one carrier arm segment is a telescopicarm segment.

It is another object of the present invention to disclose the system asdefined above, additionally adapted to: drive said trolley to thelocation of said animal; activate said animal stimulation device; andstimulate said animal so as to urge said animal to move towards adesired location.

It is another object of the present invention to disclose the system asdefined above, additionally adapted to: receive a destination locationfor the animal; and automatically drive said animal from its currentlocation to said destination location.

It is another object of the present invention to disclose the system asdefined above, wherein said trolley is also translatable across a bridgebetween two or more elevated rails, said bridge being translatable alongsaid rails.

It is another object of the present invention to disclose the system asdefined above, wherein said desired location is at least one of amilking parlor, a gateway, a chute, a pathway and a truck.

It is another object of the present invention to disclose the system asdefined above, wherein said trolley has hovering capabilities and is atleast partially independent of said rails.

It is another object of the present invention to disclose the system asdefined above, additionally comprising a cow latching mechanismincluding a latch reversibly engageable with a latch receiver attachedto a collar of a cow.

It is another object of the present invention to disclose the system asdefined above, wherein said latch receiving mechanism is a magnet andthe latch is an electromagnet.

It is another object of the present invention to disclose the system asdefined above, wherein said latch receiving mechanism is a bearingattached to a cow collar and the latch is hook closed with abias-controlled tongue.

It is another object of the present invention to disclose the system asdefined above, wherein said latch and said latch receiving mechanism areoperative to detach from each other so as to prevent injury to cowshould said cow begin to resist and to develop aberrant behavior.

It is another object of the present invention to disclose the system asdefined above, additionally adapted to activate said cow retrievalsystem functionality.

It is another object of the present invention to disclose the system asdefined above, additionally adapted to perform a member of a groupconsisting of: generate an alert, activate system functionality and anycombination thereof in at least one circumstance selected from a groupconsisting of: a cow is identified as missing from said milking parlorduring a predetermined time slot; a cow is statistically late or missingfrom the milking parlor; a daily milking schedule of the dairy farmresident cows determines that a cow should be moved to the milkingparlor, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein a real time image of said cows is displayed.

It is another object of the present invention to disclose the system asdefined above, wherein pressure on an image of a cow activates saidsystem retrieval functionality so as to initiate retrieval of saidselected cow.

It is another object of the present invention to disclose the system asdefined above, wherein said stationary cow is identified and marked bymeans of at least one of a group consisting of pressure on a location ona touchscreen, pressure on at least one key of a keyboard, motion of amouse and motion of a joystick.

It is another object of the present invention to disclose the system asdefined above, wherein said marking automatically activates the systemretrieval functionality to initiate retrieval of said selected cow.

It is another object of the present invention to disclose the system asdefined above, wherein said trolley further comprises a water reservoir.

It is another object of the present invention to disclose the system asdefined above, wherein the shape of said cow driving fence is selectedfrom a group consisting of: flat, in the form of a semi-circle or in theform of a complete circle that completely surroundings said cow whenlowered.

It is another object of the present invention to disclose the system asdefined above, wherein said low-level maneuvering device is movable on amember of a group selected from: at least one wheel and an air-cushionlevitation device, a magnetic levitation device, and any combinationthereof.

It is another object of the present invention to disclose the method asdefined above, additionally comprising steps of:

-   -   a. providing a cow retrieval system comprising:        -   i.a maneuvering device selected from a group consisting            of: (a) at least one elevated rail placed at a height            unreachable by said animal and at least one trolley            translatable at least along said rail, and (b) at least one            low-level mobile maneuvering device, said low-level mobile            maneuvering device adapted to move along at least one of a            group consisting of a floor and the ground, and at least one            trolley attachable to said low-level mobile maneuvering            device; and        -   ii.at least one animal stimulating device;    -   b. maneuvering said maneuvering device so as to bring it to the        location of said animal;    -   c. verifying said location of said animal;    -   d. activating said animal stimulating device; and    -   e. stimulating said animal, thereby urging said animal to move        towards a predetermined location.

It is another object of the present invention to disclose the method asdefined above, additionally comprising steps of:

-   -   a. providing a cow retrieval system comprising:        -   i.(a) at least one elevated rail placed at a height            unreachable by said animal and at least one trolley            translatable at least along said rail, and (b) at least one            low-level mobile maneuvering device, said low-level mobile            maneuvering device adapted to move along at least one of a            group consisting of a floor and the ground, and at least one            trolley attachable to said low-level mobile maneuvering            device; and        -   ii. at least one animal stimulating device;    -   b. receiving a destination location for said animal;    -   c. maneuvering said maneuvering device so as to bring it to the        location of said animal;    -   d. maneuvering said maneuvering device so as to induce said        animal to move from its current location to said destination        location.

It is lastly an object of the present invention to disclose the methodas defined above, additionally comprising steps of activating the cowretrieval system functionality at such time as there occurs acircumstance selected from a group consisting of:

-   -   a. a cow is identified as missing from a milking parlor during a        predetermined time slot;    -   b. a cow is identified as statistically late or missing from        said milking parlor; and    -   c. according to a daily milking schedule for said cow, it is the        predetermined time for milking said cow.

BRIEF DESCRIPTION OF THE FIGURES

In order to better understand the invention and its implementation inpractice, a plurality of embodiments will now be described, by way ofnon-limiting example only, with reference to the accompanying drawings,wherein

FIG. 1a-1b schematically illustrates a yokes (headlock) system and amilking parlor in

FIG. 2 is a simplified illustration of an embodiment of an automaticanimal retrieval system as viewed from above;

FIG. 3 is a simplified illustration of an embodiment of an automaticanimal retrieval system as viewed from above;

FIG. 4 is a simplified diagram of an embodiment of a trolley;

FIGS. 5A-G are elevated side-view simplified illustrations of anembodiment of cow stimulating devices;

FIGS. 6A-B are side view simplified illustrations of an embodiment of acarrier arm;

FIGS. 7A-C are simplified illustrations of an embodiment of a trolleyand stimulating device;

FIGS. 8A-D are simplified illustrations of an embodiment of a trolleyand stimulating device;

FIG. 9 is a block diagram of an embodiment of an automatic retrieval ofa cow by the automatic animal retrieval system;

FIG. 10 is a flowchart of alert generation and activation of anembodiment of the automatic animal retrieval system; and

FIGS. 11A-B are simplified illustrations of an embodiment of displays ofa system computer.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following description is provided, alongside all chapters of thepresent invention, so as to enable any person skilled in the art to makeuse of said invention and sets forth the best modes contemplated by theinventor of carrying out this invention. Various modifications, however,will remain apparent to those skilled in the art, since the genericprinciples of the present invention have been defined specifically toprovide a means and method for identifying and locating livestock.

The term ‘plurality’ hereinafter refers to any number greater than one.

The term ‘approximately’ hereinafter refers to a value within 25% of thenominal value.

The term ‘cow’ hereinafter refers to any mammal generally kept in herds,including, but not limited to, cows, sheep, goats, buffalo, bison,horses, donkeys, mules, swine, deer, elk, llamas, alpacas and camels.

The term ‘yoke system’ hereinafter refer to a system which comprises nyoke cells; where n is an integer higher than 1. Each yoke cell is usedto restrain at least one animal (e.g., cow). i.e., to lock at least oneanimal for purposes of eating, providing treatment to the same etc. Eachyoke cell will be referred hereinafter as headlock as well.

The term ‘headlock’ hereinafter refer to any means adapted to restrainat least one animal (e.g., cow). Each headlock cell will be referredhereinafter as yoke as well.

The terms ‘milking cell’ and ‘milking stall’ hereinafter refer to adefined area large enough to accommodate one animal, within which theanimal is milked. Milking cell and milking stall, as used herein, aresynonymous.

The term ‘milking parlor’ hereinafter refers to a defined area withinwhich milking animals such as cows are milked. Typically, milkingparlors comprise entry holding areas, milking stalls and exit holdingareas, although the entry and exit holding areas cam be the same or canoverlap.

The term ‘cell’ hereinafter refers to a defined volume large enough toaccommodate an animal. A cell can comprise a milking cell, a yoke oryoke cell, a headlock or headlock cell, a stall, or any other means ofrestraining an animal at a known location. A cell can also be a definedregion of space such as a milking point or other defined region of spacein which the animals should remain. For non-limiting example, in milkingparlors with milking points, the milking equipment is spaced such that,when the animals stand with their sides adjacent to each other, each cowcan be connected to milking equipment. A milking point and, therefore, acell is then the cow position associated with a set of milkingequipment.

The term ‘locating means’ hereinafter refers to any means of identifyingthe position of an animal. Locating means include, but are not limitedto, RFID tags and RFID readers, coded IR tags and IR sensors, dumb tagsand optical readers, and ultrawide band transmitter-receivers.

The term ‘identification means’ hereinafter refers to any means ofuniquely identifying an individual animal, typically by means of ananimal identification number. The identification means can be, but isnot limited to, an RFID tag comprising the animal identifier, a coded IRtag comprising the animal identifier, a “dumb” tag into which theidentifying number is embossed or onto which the identifying number ispainted, or a number tattooed in a cow's ear.

The term ‘quarter’ hereinafter refers to the portion of the udderassociated with a single teat. Cows, bison, buffalo, deer and camelsnormally have four quarters, sheep, goats, and horses normally have two.

The term ‘personally carryable device’ hereinafter refers to any deviceheld in the hand, worn on or in the clothing or attached to the body.Non-limiting examples of hand-held devices include mobile phones,cellphones, Bluetooth earphones, communication devices attachable to thearm, communication devices attachable to the waist, communicationdevices attachable to a belt, communication devices attachable to ahead, communication devices worn around the neck, communication devicesworn on the hand, Google Glasses, helmets comprising a communicationdevice, heads-up displays, EyeTaps, Golden-is, virtual retinal displays,GlassUps, iOptiks, beepers, either kept in a pocket or worn on a belt oraround the neck, handheld computers, personal digital assistants,smartphones and any combination thereof.

The term ‘rail’ hereinafter refers to any construction operative toallow bi-directional translation of a trolley therealong, placed at aheight unreachable by a cow, e.g., a rod, a cable, a rope, etc.

In all figures herein, identical numbers refer to analogous parts.

The prior art discloses systems in which there exist identificationmeans on each cow and location means on each milking cell or otheranimal holding cell such as a stall or pen.

In prior-art systems, typically, matched identification means andlocation means are used. Typical examples include an RFID tag on theanimal and an RFID reader in the cell, a coded IR emitting tag on theanimal and an IR sensor in the cell, a “dumb” tag on the animal and anoptical reader in the cell, although there are many other such systemsknown in the art.

In all of these systems, when a cow enters a cell, the location means(such as the RFID reader) in the cell reads the identification means(such as the RFID tag) on the animal, thereby identifying that aspecific animal has entered a specific cell.

According to this embodiment, there is no need for the location means oneach milking cell.

However, in prior-art systems, every time the layout of a milking parloris changed, the location means must be changed to match the new layout.This will involve some combination of moving the location means,re-wiring the milking parlor, and, if the number of cells in increased,providing new location means. Care will need to be taken that thelocation means do not interfere with each other and that structures inthe milking parlor do not interfere with the operation of the locationmeans. For example, care would need to be taken to ensure that nothingblocked the line-of-sight between a “dumb” tag on the animal and anoptical reader in the cell.

In addition, care will need to be taken that the new location means arecompatible with the rest of the system.

In the present system, the locations of the animals can be found withoutuse of location means associated with each of the n milking cells. Incontrast to the prior art, in preferred embodiments of the presentsystem, there is a single location means which identifies the locationsof all of the animals. The system is not limited to a single locationmeans; however, the number of location means is not large.

In the present system, the location means covers an area substantiallylarger than a single milking pen, for example, an entire milking parloror all of the milking cells within a milking parlor. Other examplesinclude, but are not limited to, the interior of a barn, the area ofstalls within a barn, the area of a pen within the barn, or the area ofan outdoor field or an outdoor pen.

The present system further comprises a data processor in communicationwith the location means and, in some embodiments, the data processor isin communication with the identification means on the animal. Thus, inembodiments with data processor in communication with the identificationmeans the system can inform the farmer, stock keeper or other user that,at the present time, a specific cow, for example cow no 123456 (asidentified by the identification means), is located in a specified areafor example, cell number 5 (as located by the location means).

The data processor is further in communication with display meansadapted to inform a stock keeper or other user of data about the animal,such as the identity of the animals in the milking cells.

The data processor further comprises means, such as a database, forstoring the locations of and the identities of the animals.

The system is a real-time system, in that it real-time updates thelocations of the animals within the area covered by the location means.For example, for a milking parlor, as each animal enters a milking cell,the system recognizes that the animal has entered a cell and which cellit has entered and updates any databases or displays accordingly. Whenthe animal leaves the cell, for example after milking has finished, thesystem will recognize that that animal has left that cell and will againupdate any databases and displays. This enables stock keepers to beaware at all times of the locations of the animals and, therefore, ofthe progress of milking.

In preferred embodiments of a system wherein the movements of cows aretracked in a milking parlor, the milking stall used by each cow can beidentified so that, for example, for each cow, the amount of milk givenis known and is attributable to the correct cow.

Farmers also desire to track cows' movements in barns, pens or fields inorder to determine the cows' status; unusual behavior can indicateunwellness in the animal and the sooner an unwell animal is identifiedand treated, the more likely it is that the animal will show goodrecovery and, in general, the smaller will be the cost of the treatment.Furthermore, the more quickly the animal is treated, the smaller thelikely effect on the animal's milk production. Unusual behavior can alsoindicate problems within a herd, such as two animals fighting ordangerous animals, such as dogs, too close to the cows.

Since the present system requires only one or, at most, a small numberof locating means, embodiments of the present system can be installed inbarns, pens or fields and can track the cows' movements therein in realtime and thereby, using the data processing system and the displaysystem, enable the farmer, stock keeper or other user to be apprised inreal time of the status of each animal

The system of the present invention preferably comprises, for thelocation means, an ultra wide band (UWB) transmitter-receiver systemwith at least one transmission antenna and at least one receiver antennaadapted track the location of animals and, in some embodiments, identifythe animals, for example cows, so that, for non-limiting example, theirprogress through a milking parlor can be followed. In other embodiments,other transmitter-receiver systems, such as are known in the art, can beused to locate the animals.

In some embodiments, the location means and the identification means areseparate. In such embodiments, one system, for non-limiting example, aUWB transmitter-receiver system, determines the location of each animal,while a second system, for non-limiting example, RFID tags and an RFIDreader, determines the identities of the animals.

UWB systems use signals of very low spectral density that extend over avery wide frequency range. Ultra wideband transmissions typicallyoperate in the range 3.1 GHz up to 10.6 GHz, at a limited transmit powerof −41 dBm/MHz. In addition, the transmissions typically either occupy abandwidth of at least 500 MHz, or have a bandwidth of at least 20% ofthe centre frequency, or both. For example, a transmission with a centerfrequency of 6 GHz, would have a bandwidth of at least 1.2 GHz.

The advantages of UWB technology for a locating means are (1) that asystem comprising one transmitter and one receiver can accurately locatea plurality of animals, even when the animals are moving; (2) thelocating means is relatively insensitive to obstacles—at worst it willidentify the obstacles as animals, at best, because of the widebandwidth, the system will effectively see around the obstacles; theobstacles will effectively be invisible; and (3) UWB systems, because oftheir wide bandwidth, are relatively insensitive to multipath fading,which is loss of signal due to multiple reflections from objects betweenthe transmitter and the receiver.

UWB technology also provides a low-power system, both in the sense thatthe total amount of power in the signal is relatively small, and in thesense that the amount of power per MHz of bandwidth is small, so thatthe UWB transmissions will not cause harmful interference to other radiotransmissions using traditional carrier-based techniques.

In fact, the actual energy density of the transmissions themselves canbe less that the unintentional or spurious radiation levels from atypical PC. Typically, a DS UWB transmitter will transmit less than 75nanowatts per Megahertz. This means that, when integrated over the totalbandwidth of the transmission, the transmissions may only be around 0.25milliwatts, much smaller than 802.11-type transmissions that aretypically between 25 and 100 mW, or Bluetooth transmissions aretypically between 1 mW and 1 W.

FIG. 1a schematically illustrates a yokes (headlock) system (1100). Cows(110) can enter (110-1) and leave (110-2) the system.

A plurality of n yokes cells (1110) are available; each cow (110) iscontained within a yoke cell within the system (1110).

In this embodiment, a transmitter (1130) is within the yokes system anda receiver (1140) is outside the same.

In other embodiments, the transmitter (1130) is outside the system(1100) and the receiver (1140) is within it. In yet other embodiments,both transmitter (1130) and receiver (1140) are within the yokes system(1100), and in still other embodiments, both transmitter (1130) andreceiver (1140) are outside the yokes system (1100).

According to another embodiment, the transmitter (1130) and\or thereceiver (1140) are used as location means adapted to generate at leastone location signal associated with at least one of the cows. Thelocation signal provides information as for the current location of saidcow.

According to another embodiment, the a transmitter (1130) and\or thereceiver (1140) are used as identification means adapted to transmit atleast one identification signal associated with said at least oneanimal. For example, the cow number.

It should be emphasized that the location means is associated with theyokes system (1100) as a whole—it is not associated with the specificcells. In the exemplary embodiment shown, there is one transmitter andone receiver which provide coverage for the entire yokes system (1100);the locations of all the animals are determined simultaneously by meansof the single transmitter and the single receiver.

Even in embodiments with more than one transmitter or receiver, thenumber of transmitters or receivers will be much smaller than the numberof cells; at no time will each cell have its own location means.

It should also be noted that the location means can be associated withthe cow number (or the identification means).

According to a preferred embodiment of the present invention, the systemfurther comprises data processing system adapted to receive the locationof each cow (or several cows) as well as the identification of the same(i.e., the cow's number) and to provide the user of the system with theinformation as for in which cell the cow is located as a function oftime.

According to a preferred embodiment of the present invention, the dataprocessing system can receive the location of each cow (or several cows)as well as the identification of the same (i.e., the cow number) andaverage said location so as to provide the user of the system with theinformation as for in which cell the cow is located as a function oftime.

Thus, it is an object of the present invention to disclose, in a yokessystem having a plurality of n yokes cells, each of the n cells beingadapted to enclose at least one animal; n is an integer greater than 1;a system for locating the position of at least one animal, the systemcomprising:

-   -   a. at least one identification means adapted to transmit at        least one identification signal associated with said at least        one animal;    -   b. at least one locating means adapted to generate at least one        location signal associated with said at least one animal; and    -   c. a data processing system in communication with said at least        one identification means and said at least one locating means,        adapted to analyze said signals, said analyzed signals        comprising the position within a predetermined region in said        yokes system of each of said at least one animals as a function        of time.

It is another object of the present invention to disclose the system asdefined above, wherein said position is at least one of said n cells.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with the same animal.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system is adapted to receiveseveral of said location signals associated with different animals.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providethe location of said animal within said yokes system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system, based on saidlocation signals and said identification signal, is adapted to providesaid n cell in which said animal is positioned within said yokes system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system averages saidlocation signals and provides said n cell in which said animal ispositioned within said yokes system.

It is another object of the present invention to disclose the system asdefined above, wherein said data processing system integrates multiplereading from either said animal and\or at least one adjacent animal overTIME to make a reliable estimation of said n cells.

Such a feature is highly important as the cow may move its head (and thesensor) very near the cell/headlock border.

Furthermore, using the location of the adjacent cows may further assistin reliable headlock determination. For example if the locationinformation indicate that cow #10 is either in cell #3 or cell #4. Butcow #20 is known to be in cell 4 than cow #10 can be associated withcell #3 with high reliability.

It is another object of the present invention to disclose the system asdefined above, wherein said system identifies said position of said atleast one animal without use of location means associated with each ofsaid n cells.

It is another object of the present invention to disclose the system asdefined above, wherein at least one said identification means isassociated with each of said animals

It is another object of the present invention to disclose the system asdefined above, wherein said association between said identificationmeans and said animal is by means of a mechanism selected from a groupconsisting of a tag, a collar, being coupled to the nasal area of saidanimal, an implantable transponder, a bolus, a microchip, an RFID tag,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said identification means is associated with saidat least one animal by a means selected from a group consisting of:being worn on a collar, being coupled to the nasal area of said animal,collar, being worn on a body band, attached to said animal, implantedwithin said animal, held within said animal's digestive system, heldwithin said animal's reproductive system, held within said animal'surinary system, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein movement of at least one said animal is trackableby means of said at least one identification means, said at least onelocating means and said data processing system.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one RF transmitter and at least one RF receiver.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one locating means comprises atleast one ultra-wide-band (UWB) transmitter and at least one UWBreceiver.

It is another object of the present invention to disclose the system asdefined above, wherein said animals are milking animals.

It is another object of the present invention to disclose the system asdefined above, wherein the type of animal is selected from a groupconsisting of cows, sheep, goats, horses, buffalo, bison, camels,donkeys, mules, swine, deer, elk, llamas, alpacas and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said at least one animal's position is selectedfrom a group consisting of: the n^(th) cell within said yokes system,xyz position within a predetermined region in said yokes system, xyzposition relative to a fixed object, xyz position relative to at leastone other said animal, change in xyz position within said predeterminedregion in said yokes system, change in xyz position relative to a fixedobject, change in xyz position relative to at least one other saidanimal, speed of change in xyz position within said predetermined regionin said yokes system, speed of change in xyz position relative to afixed object, speed of change in xyz position relative to at least oneother said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said system further comprises at least onemechanism for informing a user of at least one of a group consisting of:said at least one animal's position, change in said at least oneanimal's position, said animal's position with respect to a fixedobject, change in said animal's position with respect to a fixed object;said animal's position relative to a moving object; change in saidanimal's position relative to a moving object; how said animal walks,change in how said animal walks, how fast said animal walks, change inhow fast said animal walks, behavior of said animal, change in behaviorof said animal, behavior pattern of said animal, change in behaviorpattern of said animal, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein, based upon the location of said animal, anautomatic entrance into and out of at least one of said n yoke cells isprovided.

It should be pointed out that according to another embodiment of thepresent invention, if a cow that does not need handling (i.e.,treatment) tries to enter the headlock, the same will prevent the cowfrom inserting its head into the same. As a result, the cow will moveaway and allow another cow to reach the headlock.

It is another object of the present invention to disclose the system asdefined above, wherein said behavior of said animal is selected from agroup of behaviors consisting of: fraction of time spent walking, changein fraction of time spent walking, fraction of time spent running,change in fraction of time spent running, limping, fraction of timespent lying down, change in fraction of time spent lying down, fractionof time spent standing, change in fraction of time spent standing,fraction of time spent eating, change in fraction of time spent eating,fraction of time spent drinking, change in fraction of time spentdrinking, fraction of time spent at least one predetermined distancerange from at least one other animal, change in fraction of time spentat least one predetermined distance range from at least one otheranimal, fraction of time spent in at least one predetermined positionrelative to at least one fixed object, change in fraction of time spentin at least one predetermined position relative to at least one fixedobject, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said times changes by at least apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, wherein the behavior of said animal is identified asabnormal if at least one of said changes in times is greater than apredetermined amount.

It is another object of the present invention to disclose the system asdefined above, additionally comprising at least one mechanism forinforming said of the location of said animal with respect to thelocation of said user, thereby enabling said user to approach saidanimal

It is another object of the present invention to disclose the system asdefined above, wherein said at least one mechanism for informing saiduser is selected from a group consisting of: a display within saidsystem, a display in the vicinity of said system, a display in thevicinity of said locating means, a remote display, a display on apersonally carryable device, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said personally carryable device is selected froma group consisting of a cellphone, a Bluetooth device, an earphone, acommunication device attachable to the arm, a communication deviceattachable to the waist, a communication device attachable to a belt, acommunication device attachable to a head, a communication device wornaround the neck, a communication device worn on the hand, GoogleGlasses, a helmet comprising a communication device, a heads-up display,an EyeTap, a Golden-i, a virtual retinal display, a GlassUp, an iOptik,a beeper, a handheld computer, a personal digital assistant, asmartphone, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said display is selected from a member of a groupconsisting of: an e-mail, a text message, an image, an audible message,and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, additionally comprising means to communicate with a userat least one member of a group consisting of: identity of said animal,location of said animal, location of said animal as a function of time,location of said animal relative to said user, health status of saidanimal, behavioral status of said animal, estrus status of said animal,treatment required to provide said animal and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said health status is selected from a groupconsisting of: animal currently in normal condition, animal's conditioncurrently not normal.

It is another object of the present invention to disclose the system asdefined above, wherein said animal's condition is currently not normalfor a reason selected from a group consisting of: abnormal temperaturein said quarter of said udder, said quarter of said udder is inflamed,said quarter of said udder is abnormally swollen, said animal is lame,identity of lame limb, abnormal temperature of said animal, weight ofsaid animal has changed by more than a predetermined amount, animal isin estrus, amount of head-shaking of said animal has changed by morethan a predetermined amount, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said means to communicate with said user isselected from a group consisting of: said display, a paper record.

It is another object of the present invention to disclose the system asdefined above, additionally comprising an indicator mechanism such thatsaid user can be notified that intervention is needed for at least onesaid animal.

It is another object of the present invention to disclose the system asdefined above, wherein said indicator is selected from a member of agroup consisting of a visual indicator, an audible indicator, a tactileindicator, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is selected from a groupconsisting of a constant—pitch sound, a constant—loudness sound, avarying-pitch sound, a varying-loudness sound, a sound of apredetermined pattern, and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said audible indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in said audible indicator is selectedfrom a group consisting of: said loudness of said audible indicatorchanges, said pitch of said audible indicator changes, the rapidity ofchange of said loudness changes, the rapidity of change of said pitchchanges, the predetermined sound pattern changes and any combinationthereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is selected from a groupconsisting of light of a constant, predetermined color, a light withcolor varying in a predetermined manner, a light varying in brightness,light of a predetermined pattern and any combination thereof.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable depending onthe reason for the intervention.

It is another object of the present invention to disclose the system asdefined above, wherein said visual indicator is changeable as thedistance between said animal and a user changes.

It is another object of the present invention to disclose the system asdefined above, wherein said change in visual indicator is selected froma group consisting of: change in brightness of the indicator, change incolor of the indicator, change in rapidity of brightness change, changein rapidity of color change, change in predetermined color pattern andany combination thereof.

The following description will demonstrate a second use of the abovementioned system being used in milking parlor.

FIG. 1b schematically illustrates a milking parlor (1100) from above,with the roof removed for clarity. Cows (110) enter (110-1) the parlorto be milked and leave (110-2) the parlor after milking. A plurality ofn milking stalls (1110) are available; each cow (110) is milked while itis in a stall (1110). In this embodiment, the transmitter (1130) iswithin the milking parlor and the receiver (1140) is outside the milkingparlor. In other embodiments, the transmitter (1130) is outside themilking parlor and the receiver (1140) is within it. In yet otherembodiments, both transmitter (1130) and receiver (1140) are within themilking parlor, and in still other embodiments, both transmitter (1130)and receiver (1140) are outside the milking parlor.

It should be emphasized that the location means is associated with themilking parlor as a whole—it is not associated with the specific cells.In the exemplary embodiment shown, there is one transmitter and onereceiver which provide coverage for the entire milking parlor; thelocations of all the animals are determined simultaneously by means ofthe single transmitter and the single receiver.

Even in embodiments with more than one transmitter or receiver, thenumber of transmitters or receivers will be much smaller than the numberof cells; at no time will each cell have its own location means.

According to another embodiment, the transmitter (1130) and\or thereceiver (1140) are used as location means adapted to generate at leastone location signal associated with at least one of the cows. Thelocation signal provides information as for the current location of saidcow.

According to another embodiment, the a transmitter (1130) and\or thereceiver (1140) are used as identification means adapted to transmit atleast one identification signal associated with said at least oneanimal. For example, the cow's number.

It should be emphasized that the location means is associated with theyokes system (1100) as a whole—it is not associated with the specificcells. In the exemplary embodiment shown, there is one transmitter andone receiver which provide coverage for the entire yokes system (1100);the locations of all the animals are determined simultaneously by meansof the single transmitter and the single receiver.

Even in embodiments with more than one transmitter or receiver, thenumber of transmitters or receivers will be much smaller than the numberof cells; at no time will each cell have its own location means.

It should also be noted that the location means can be associated withthe cow number (or the identification means).

According to a preferred embodiment of the present invention, the systemfurther comprises data processing system adapted to receive the locationof each cow (or several cows) as well as the identification of the same(i.e., the cow number) and to provide the user of the system with theinformation as for in which cell the cow is located as a function oftime.

According to a preferred embodiment of the present invention, the dataprocessing system can receive the location of each cow (or several cows)as well as the identification of the same (i.e., the cow number) andaverage said location so as to provide the user of the system with theinformation as for in which cell the cow is located as a function oftime.

In some embodiments of the system wherein the progress of cows through amilking parlor is tracked, preferably, the system will, at minimum,identify, for each cow in the herd, that it has entered the milkingstall, the stall in which it is milked, and that it has left the milkingstall. Other data that can be collected include, but are not limited to:that it has entered the milking parlor, the time it enters the milkingparlor, the time it enters the milking stall, the time it leaves themilking stall, that it has left the milking parlor, the time it leavesthe milking parlor, the amount of time spent in the parlor, the amountof time spent in the stall, the amount of milk given, the number of cowsin the parlor at any time, the location of the cows at any given time,and the relative locations of the cows such as the closeness ofindividual cows to each other.

The system further comprises a data processing system to store thesedata and to analyze them. With the addition of sensors such as, fornon-limiting example, heat sensors or pressure sensors, other data suchas, but not limited to, the cow's temperature or weight or the uddertemperature can be collected, attributed to the individual cow, andanalyzed.

In some embodiments of the systems, the locations of the cows in themilking parlor are determined by the UWB locating means, without therebeing any need for identification means, either RFID or other smart tagsor optically-readable identifiers, in the milking stalls or, in someembodiments, on the cows. In these embodiments, the UWB locating meansdetermines the locations of the cows. Since the distance between stallsis known to the system, the stall the cow has entered can be determined.

In preferred embodiments of the system, each animal has a uniqueidentifier, with the identification means which comprises the identifierat least semi-permanently associated with the animal.

The identification means can be a marking, such as a brand or tattooinscribed into the animal's skin. It can be a tag, either a “dumb” tagor a smart tag. The tag can be optically, mechanically or electronicallyreadable, or any combination thereof. A non-limiting example of anelectronically-readable smart tag is an RFID tag. The tag can beattached to the animal such as, for non-limiting example, as an ear tagor a nose ring, or can be worn on the animal, for example, as part of orattached to a collar, halter, harness or belly band. The identificationmeans can be implanted in the animal, for non-limiting example, as amicrochip, or it can be held within the animal, for non-limitingexample, as a bolus inside the animal's digestive system, itsreproductive system, or its urinary system. Any combination of the abovecan be used as the identification means for the animal.

In some embodiments of the system, the milking robot comprises sensorsto determine at least one of: the amount of milk given by the cow duringthe milking session and the quality of the milk. Milk quality can bedetermined from, for non-limiting example, light transmission throughthe milk, specific gravity of the milk, amount of sugar in the milk,amount of fat in the milk, amount of protein in the milk, and anycombination thereof.

In embodiments of the system comprising an identification means foridentifying individual cows, the quality and quantity of the milk can betracked over time, so that increases or decreases in milk production canbe identified. Sudden decreases in milk production, for example, can bethe result of general ill-health in the animal. Decreases in milkproduction in a single nipple can result from either illness (such as,but not limited to, mastitis), or injury. In general, the soonerill-health or injury is identified, the more effectively it can betreated.

In some embodiments, sensors on or near the milking robot measure thetemperature of at least one location on the udder, and preferablymeasure the temperature of each quarter of the udder. In some variants,sensors on or near the milking robot or in or on the milking stallmeasure the body temperature of the cow. Abnormal temperatures can beindicators of general ill-health or of diseases of the udder, such asmastitis.

In some embodiments, pressure sensors in the milking stall measure theweight of the cow. Unusual changes in weight can indicate ill-health.

If suspected ill-health is determined, help can be provided more rapidlybecause the location of the animal is known; a caregiver such as aveterinarian can be informed which cow needs treatment or otherintervention. Treatment or other intervention can be provided while theanimal is in the stall or, since the system can track the cow afterdeparture from the milking stall, treatment or intervention canalternatively or additionally be provided after the cow has left thestall. For non-limiting example, a stockman can intercept the animal asit leaves the milking parlor, intercept it within the milking parlor, orintercept it after it has left the milking parlor.

In some embodiments, the means of information is an audible or visualindication provided when a caregiver is within a predetermined distanceof the cow needing intervention, thereby assisting the caregiver intracking the animal.

In some embodiments, means of information is a hand-held or head-mounteddevice in communication with the data processing system; in others, theindicator is mounted within the milking parlor, for non-limitingexample, on a wall or ceiling or on or in the fittings of the parlor. Ifthe device is hand-held or mounted on the caregiver's body, theindicator can be tactile.

A visual indicator can be a light of a constant, predetermined color, alight with color varying in a predetermined color pattern, a lightvarying in brightness, light of a predetermined pattern such as a wordor words and any combination thereof. The light can change in brightnessor color, in rapidity of brightness change or rapidity of color changeor the predetermined pattern can change (e.g., the words change) as thedistance between the caregiver and the animal changes.

An audible indicator can be a constant—pitch sound, a constant—loudnesssound, a varying-pitch sound, a varying-loudness sound, or a sound of apredetermined pattern such as, but not limited to, a voice message. Thesound can change in loudness or pitch, in rapidity of loudness change orrapidity of pitch change, the predetermined sound pattern can change orany combination thereof as the distance between the caregiver and theanimal changes. For non-limiting example, the predetermined soundpatterns can be words such as “five feet”, “four feet”, “3 feet”, “2feet”, and “one foot”.

In some embodiments, the indicator depends on the reason for theintervention. For non-limiting example, a lame animal could be indicatedby a green light, an animal with a fever by a yellow light, an animalwith inflamed udder by a blue light, an animal in estrus by an orangelight, or animals fighting by a red light. Similarly, a lame animalcould be indicated by a constant, low tone, an animal with a fever by aslow beep, an animal with inflamed udder by a fast beep, an animal inestrus by a two-tone beep and animals fighting by a loud, high-pitchedfast beep.

Tactile warnings can also be provided. In some embodiments, vibration ofa hand-held device can indicate to a user that intervention is needed,that a cow or cows has finished milking and should be released, that theuser is approaching the correct cow (e.g., for intervention), or anycombination thereof.

The indicator can be on a display, it can be on the animal, it can bepart of a hand-held device and any combination thereof.

In some embodiments, after the cow has given the average amount of milkfor a milking session, or a predetermined desired amount of milk, themilking robot will automatically release the cow from the robot. Theaverage can be calculated from the amounts given by the same animalduring previous unrestricted milking sessions. In other embodiments,milking continues until the flow rate of milk substantially decreases,for non-limiting example, the flow rate decreases by 50%, or by anyother predetermined amount.

In some embodiments, the system additionally comprises a sensor, RFIDtag or smart tag on each cow and can also include at least one of alight source or sound source. The at least one of a light source orsound source can be activated if the animal needs intervention.

In some embodiments, as described hereinabove, the light source or soundsource can lead the caregiver to the animal.

In some embodiments, the light source or sound source can indicate, asdescribed hereinabove, the nature of the animal's problem, fornon-limiting example, by saying “hot udder” if a raised temperature isfound in an udder, or “hot quarter” if only one quarter is hot. Manysuch phrases will be obvious to one skilled in the art.

In some embodiments, an identifier of the cow and/or the nature of theproblem are shown on a display, which can be, for non-limiting example,on a wall in the milking parlor, on a display screen in the milkingparlor, on a display screen at a remote location, on a hand-held device,or any combination thereof.

In some variants, the display can comprise an identifier of the cow andthe amount of milk given.

Any combination of the above can be included in the display.

In some variants, each individual animal is released from the milkingstall when milking is complete. In other embodiments, all animal arereleased at the same time, after milking of all animal is complete. Inyet other embodiments, if an animal needs treatment, release of thatanimal is delayed until intervention, such as treatment, is complete,while other animals are released either as a group or when milking of anindividual animal is complete. In still other embodiments, no animal isreleased until all cows needing intervention have been dealt with.

In some embodiments wherein animals are released individually, each timean animal is released and is permitted to leave the milking parlor,another animal is enabled to enter the milking parlor, enter a milkingstall and be milked, so that animals, in general, enter individually andleave individually. In other embodiments, a new group of animals isenabled to enter the milking parlor only after all of the previous grouphas left the milking parlor.

In yet other embodiments, all cows needing intervention are kept inmilking stalls until all animals not needing intervention have left themilking parlor. No new animals are permitted to enter the milking parloruntil intervention has been completed for the retained animals and theseanimals have left the milking parlor.

Other combinations of allowing animals to enter the milking parlor,allowing animals to enter the milking stalls, allowing animals to leavethe milking stalls and allowing animals to leave the milking parlor willbe obvious to one skilled in the art.

In some embodiments, any combination of the following can be monitored:the way the animal walks, the time taken for the animal to move from theentrance to the milking parlor to the milking stall, the time taken forthe animal to move from the milking stall to the exit from the milkingparlor, whether the animal lies down, and the distance between any givenanimal and other animals.

Abnormalities in the way the animal walks and changes in the animal'swalking pattern can indicate both systemic illnesses and local illnesses(e.g., lameness or udder inflammations). Abnormalities or changes intimes taken to get to the milking stall or to leave the milking stall orthe milking parlor can indicate illness, debility, or problems such assore nipples.

Lying down for an unusual length of time or at an unusual time of daycan, again, indicate illness or debility.

Changes in movement patterns can also indicate estrus.

Animals that are too close together can indicate estrus in one of them,or can indicate that the animals are fighting.

In some embodiments, the location means are placed in a barn, pen,milking parlor or field and the movements of the animals are trackedover longer time periods. In such embodiments, at least one of thefollowing can be tracked: the position of the animal within the barn,pen, milking parlor or field, its position relative to a fixed object,and its position relative to at least one other animal. In preferredembodiments, these can be stored as an xyz position.

From these, in conjunction with the locations within the space of fixedobjects, the following can be determined: the change in position of theanimal, the change in its position relative to a fixed object, and thechange in its position relative to at least one other animal, and thespeed of change of the position of the animal, the speed of change inits position relative to a fixed object, and the speed of change in itsposition relative to at least one other animal can be found, as well asthe way the animal walks, the speed of movement, how often the animallies down and for how long, how often it goes to a drinking trough andhow long it spends there, how often it goes to a food supply area suchas a feeding trough or hayrick and how long it spends there, and howoften it approaches other animals, how long it spends close to the otheranimal and how close it comes to the other animal.

In preferred embodiments, users can be informed of at least one of: thechange in position of the animal, the change in its position relative toa fixed object, and the change in its position relative to at least oneother animal, and the speed of change of the position of the animal, thespeed of change in its position relative to a fixed object, and thespeed of change in its position relative to at least one other animalcan be found, as well as the way the animal walks, the speed ofmovement, how often the animal lies down and for how long, how often itgoes to a drinking trough and how long it spends there, how often itgoes to a food supply area such as a feeding trough or hayrick and howlong it spends there, and how often it approaches other animals, howlong it spends close to the other animal and how close it comes to theother animal.

From these data, at least one of the following can be determined:whether the animal is in estrus; whether it is involved in a fight;whether it is suffering from debility; how much it eats; how much itdrinks; if there is more than one source of food (such as both hay andcattle feed), what it is eating; whether it is lame; whether it has aninflammation or soreness in or on the udder; whether it is ill (sickanimals often go “off their food”), whether it is being attacked—if anumber of animals are running in the same direction, it can indicatethat a dog or other predator has entered the field where the animals arekept.

Abnormal behavior such as the above can be identified if the amount oftime spent by the animal in performing any of the types of behaviorindicated hereinabove changes by more than a predetermined amount.

In preferred embodiments, users can be informed of: whether the animalis in estrus; whether it is involved in a fight; whether it is sufferingfrom debility; how much it eats; how much it drinks; if there is morethan one source of food, what it is eating; whether it is lame; whetherit has an inflammation or soreness in or on the udder; whether it is illand whether it is being attacked, or any combination thereof.

In some embodiments, the system additionally comprises an automaticanimal retrieval system,

Referring now to FIG. 2, which is a schematic illustration of anembodiment of an automatic animal retrieval system 100 as viewed fromabove. In FIG. 2, the roof has been removed for the purpose ofillustration and to reveal the retrieval system 100.

A typical dairy farm cow shed 102 commonly includes one or morefenced-in lots 104 separated by a driveway 106. A shed 102 commonly alsoincludes support poles 108 supporting the roof (not shown). Cows 110 arefree to move within lots 104.

In some embodiments, system 100 comprises one or more elevated rails 112suspended from the roof (not shown) or suspended from or attached tosupport poles 108 or from dedicated poles (not shown).

In other embodiments, system 100 comprises at least one low-level mobilemaneuvering device.

The shed commonly is adjacent to and abutting a milking parlor or,alternatively, the shed includes a gateway and a chute or pathwayleading to a milking parlor, a truck or any other location. One or moretrolleys 114 can be translatable along rail 112 as indicated by whitearrow 150 and/or be translatable across a bridge 116 between at leasttwo rails, as indicated by black arrow 170, bridge 116 itself beingtranslatable along rail 112 as indicated by white arrow 150.

As shown in FIG. 3, a schematic illustration of another embodiment of anautomatic animal retrieval system 100 is viewed from above. System 100can comprise one or more pairs of rails 112 suspended from the roof (notshown) or suspended from or attached to support poles 108.

As in FIG. 2, one or more trolleys 114 could be translatable along rails112 and/or translatable across bridge 116 between at least two rails,which itself could be movable along rails 112 as indicated bycorresponding black arrow 170 and white arrow 150.

In embodiments with a low-level mobile maneuvering device, the low-levelmobile maneuvering device is adapted to move along at least one of agroup consisting of a floor and the ground. The low-level mobilemaneuvering device is moveable across a floor or across the ground,using any conventional system, such as, but not limited to, at least onewheel, an air cushion levitation system, a magnetic levitation system,or any combination thereof, to enable it to move. The low-level mobilemaneuvering system will also comprise means of locating obstacles in itspath such as other animals or fixed objects. In some embodiments, themeans of locating obstacles comprises at least one sensor; in otherembodiments, the animal location system described hereinabove is used.In yet other embodiments, both are present.

Typically, the low-level mobile maneuvering system will befree-standing. Preferably, it will contain a power source and so willnot need, during use a physical connection to any other device orobject. Examples of connections not needed are power cables and fueldelivery hoses.

All embodiments of the maneuvering device will also comprise a cowstimulating device 132, mounted on a trolley (114). The trolley can bebuilt into or attachable to maneuvering device.

Reference is now made to FIG. 4, which is a schematic diagram of anembodiment of a trolley 114. Trolley 114 can carry a carrier arm 130carrying a cow stimulating device 132 and can include one or morecontrollers 118 operative to activate a motor 120 propelling trolley 114along rails 112. Additionally and optionally, trolley 114 can include anair compressor 134. Alternatively and optionally, compressed air can besupplied from a central compressor.

Trolley 114 also includes a transmitter/receiver 122 and an antenna 124to receive information from and transmit information to the animallocation system described hereinabove.

In some embodiments, in addition to the animal location system, trolley114 also comprises at least one cow 110 identification and verificationdevice, such as an RFID reader 126 operative to read an RFID tagattached to cow 110, a camera 128, a barcode reader 129 or an opticsensor 131.

Referring now to FIGS. 5A-G, which show elevated side view schematicillustrations of several embodiments of cow stimulating devices 132. Cowstimulating devices 132 shown in FIGS. 5A-G are designed to stimulateand urge a cow 110 (FIGS. 1 and 2) to get up (when recumbent) and/orwalk towards a desired location. In the following examples, a milkingparlor is described as the desired location. However, such a locationshould not be read as limited to a milking parlor and could beunderstood as any location to which a farmer would commonly move a cowsuch as a milking parlor, a chute, a gate or any other similar location.

In some embodiments, trolley 114 of system 100 is adapted to follow acow 110 not heading in the direction of the milking parlor, employinganimal location systems as described hereinabove and further stimulatingcow 110 to head in the correct direction by employing stimulationdevices 132.

As shown in FIG. 5A, a cow stimulation device 132 could include aspeaker 136 generating sounds known to be disturbing to a cow.

Another example of a cow stimulation device 132, depicted schematicallyin FIG. 5B, is a low voltage electrical conducting wire 138 generating alow non-painful voltage upon contact with the cow sufficient to initiategetting up (when recumbent) and/or walking towards the milking parlor.

A third example of a cow stimulation device 132, schematicallyillustrated in FIG. 5C, is an air gun 140 operative to blow a stream ofcompressed air indicated by a grey arrow 450.

As shown in FIG. 5D, in another embodiment, cow stimulation device 132also includes a rotating bullwhip 142 attached to a horizontallyrotating motor 470 so that when motor 470 slowly rotates, bullwhip 142could gently whip a cow 110 recumbent or standing in close propinquitythereto.

FIG. 5E depicts an embodiment similar to that shown in FIG. 5C, howeverair gun 140 is replaced with a water gun 440 supplied from a waterreservoir 460 via a water conduit 442. Water reservoir 460 can berefilled when trolley 114 arrives at a docking station (not shown).

As shown in FIG. 5F, stimulating device 132 could be a soft ball 470attached to a tether 446 and propelled in a direction of a cow 110 froma propulsion ball gun 444. Preferably, tether 446 of soft ball 470 canbe pulled back into gun 444 to enable ball 470 to be reused asnecessary.

Alternatively and optionally, and as shown schematically in FIG. 5G,stimulation device 132 can be a cow driving fence 448 that could belowered by a telescopic arm 130 behind a cow 110. Translating trolley114 can then drive a cow 110 in a desired direction. Cow driving fence448 can be flat or in the form of a semi-circle as shown in FIG. 5G.Alternatively and optionally, cow driving fence 448 can form a completecircle, completely surrounding a cow 110 when lowered by telescopic arm130 around cow 110. Driving fence 448 can be lowered so that the bottommargin thereof is at a height of approximately between 40 cm to 100 cmabove ground level.

Referring now to FIGS. 6A-B, which are side view schematic illustrationsof an embodiment of a carrier arm 530. Carrier arm 530 can be anarticulated arm including one or more segments 530-1 and 530-2 connectedto each other by a joint 502. Segments 530-1 and 530-2 can be connectedto each other at a fixed angle or be rotatably moveable relative to eachother as indicated by curved arrow 550 (FIG. 6A). The movement ofsegment 530-2 relative to segment 530-1 can be carried out by a motorsuch as a servo motor (not shown) in joint 502 controlled by controller118 (FIG. 4).

Additionally and optionally, segment 530-2 can be a telescopic armoperative to extend as shown by the double-ended arrow 570 in FIG. 6B.Additionally and optionally, one or more of segments 530-1 and 530-2 canbe telescopic, extendible and retractable as indicated by thedouble-ended arrow 570. The extension and retraction of telescopicsegments 530-1 and/or 530-2 can be carried out by a motor such as aservo motor (not shown) in segment 503-2 or joint 502 controlled bycontroller 118 (FIG. 4).

Referring now to FIGS. 7A-B, which are schematic illustrations of twoembodiments of a trolley 114 and stimulating device 132. System 100 canadditionally and optionally include a cow identification verificationdevice 602. Such a device can identify an individual cow by, forexample, capturing one or images thereof and/or identifying a tag 650attached to a cow 110. As depicted in FIG. 7A, verification device 602can be a camera 128 communicating an image of cow 110 to computer 118 introlley 114 or, alternatively and optionally, a UPC (Universal ProductCode) reader known as barcode reading device 129 operative to read abarcode placed, for example, on a cow 110 (e.g., on the cow's collar ornose) or stamped on a tag 650 attached to the cow.

Alternatively and optionally and as illustrated in FIG. 7B, verificationdevice 602 can be a receiver/transmitter 604 communicating with a tag650 such as, for example, a low power consumption electronic tag such anAnimal Transmit/Receive Unit (ARTU) described in Assignee's US PatentApplication No. 2012/0112917.

An ARTU, as described in the above reference, can be housed in a mobiletag housing, such as tag 650 (FIG. 7B), having a cover and attached toor placed inside an animal to wirelessly receive/transmit data. The ARTUcan include a source of power, such as a regular or rechargeable batteryor any other source of power light in weight and small enough to enableit to be carried by or inside an animal. Such an ARTU can also belightweight, small and have an average power consumption less than 0.5mW.

As shown in FIG. 7C, trolley 614 carrying stimulating device 132 caninclude hovering capabilities and be autonomous of rails 112 (FIG. 2).Trolley 614 can include an electric motor 602 driving a rotor 604controllable by controller 118 or remotely controllable by computer 125via antenna 124. Trolley 614 can also optionally include a horizontalobstacle detection device (not shown) enabling trolley 614 toautomatically avoid obstacles such as poles, electric wires, etc.Trolley 614 can include all the above described stimulating devices 132and an identification verification device such as an RFID reader 126, acamera 128, a barcode reader 129 and an optic sensor 131.

Reference is now made to FIGS. 8A-D, which are schematic illustrationsof embodiments of a trolley and stimulating device. Arm 130 of trolley114 can include a cow latching mechanism 750 including a latch 702reversibly engageable with a latch receiver 704 attached to a collar ofa cow. Latch 702 can engage with latch receiver 704 so as to tug on thecollar of cow 110, pulling, urging and driving cow 110 in the desireddirection.

As shown in FIG. 8C, cow latching mechanism 750 could be employedtogether with any one of the cow 110 stimulating devices 132 describedabove.

As shown in FIGS. 8A-B, latch receiver 704 can be, for example, amagnet, whereas latch 702 can be, for example, an electromagnetcontrolled, for example by controller 118 in trolley 114 or remotecomputer 125. The magnetic attraction forces generated between latch 702and latch receiver 704 can be designed to enable tugging on cow 110collar but operative to detach from each other should cow 110 begin toresist and develop aberrant behavior so as to prevent any injury to thecow 110.

FIG. 8D illustrates another example of a cow latching mechanism 760. Asshown in FIG. 8D, latch 706 can be a hook closed with a bias-controlledor electrically controlled tongue 708. Optionally, tongue 708 can becontrolled by controller 118 or by computer 125. Latch receiver 710 canbe a ring attached to the collar of cow 110.

Cow latching mechanism 760 can be designed to enable tugging on thecollar of cow 110 but operative to allow latch 706 and latch receiver710 to detach from each other should cow 110 begin to resist and developaberrant behavior so as to prevent any injury to cow 110. Optionally,latch receiver 710 can be designed to tear when stressed by forcesgreater than normal such as when cow 110 resists and develops aberrantbehavior so as to prevent any injury to cow 110.

Reference is now made to FIG. 9, which is a block diagram of anembodiment of an automatic retrieval of a cow by a cow localizationsystem such as described hereinabove in communication with automaticanimal retrieval system 100. Preferably, system 100 is adapted toreceive the current location of the cow 110 (e.g., geographicalcoordinates or location on a predetermined map grid), receive adestination location for cow 110 (e.g., geographical coordinates orlocation on a predetermined map grid) and automatically drive cow 110from the current location to the destination location.

In the embodiment shown in FIG. 9, when a cow 110 is recognized to bemissing from the milking parlor (802), either automatically or by thedairy farmer, cow 110 identification data, such as barcode number or tag650 identification information can be manually or automatically inputinto the cow localization system (804), which in turn localizes tag 650or cow 110 (806).

Data regarding tag 650 identifying cow 110 location can be manually orautomatically input into system 100 (806), computer 118 or, transmittedto computer 118 from remote computer 125 via transmitter/receiver 122,which activates trolley 114 motor 120 propelling trolley 114 alongelevated rails 112 driving trolley 114 carrying a carrier arm 130 and acow stimulating device 132 to the location of cow 110 (808). Cow 110identification is carried out by the cow localization system describedhereinabove.

Upon arrival at the tag 650/cow 110 location (810), cow 110 thelocalization system verifies (812) that the trolley has reached thecorrect cow.

Once verification is complete (816), the cow stimulation device (818) isactivated to stimulate and urge cow 110 (FIGS. 1 and 2) and, optionally,adjacent cows 110 to get up (when recumbent) and/or walk towards themilking parlor. Once cow 110 arrives in the milking parlor, thelocalization system verifies (820) that the cow has reached itsdestination.

Referring now to FIG. 10, which is a flowchart of an embodiment of alertgeneration and activation for automatic animal retrieval system 100. Analert can be generated in several circumstances.

For example, a cow 110 can be identified missing from the milking parlorduring the time slot dedicated to milking that specific cow (902).

Another example is a cow being statistically late or missing (i.e.,skipping milking time slots) from the milking parlor (904). Theprocessing system 125 can collect data over a period of time regardingthe arrival of and milking of cow 110 at the milking parlor and cangenerate statistical information regarding cows regularly tardy ormissing from the milking parlor. In a manually run dairy farm, farmers,for various reasons, often opt to allow these cows to skip their milkingtime slot, which cumulatively results in reduced milk production overtime. This system of the present invention prevents loss of milkproduction by automatically retrieving obstinate cows.

A third example could be a daily milking schedule of the dairy farm'sresident cows 110, input manually or automatically into the system(906). The system can be adapted to identify and pair each cow 110 andits specific milking time slot and retrieve each cow 110 when itscorresponding milking time slot approaches.

Any one or any combination of the above circumstances (902, 904 and 906)can generate a system alert (908). The system alert can be directlycommunicated to the farmer (910) who manually activates the cowretrieval functionality (block 912). Preferably, a generated systemalert (908) automatically activates the cow retrieval functionality(912) and, optionally also alerts the farmer (910) (dashed line).

Reference is now made to FIGS. 11A-B, which are schematic illustrationsof an embodiment of a display 1002 of system 100 computer 125. Display1002 could be a touch-screen and display a real time image 1004 of cows110 in the cowshed, for example, as captured from a camera located atthe ceiling of the cowshed. A user can identify a group of cows such ascows 110-1, facing an open gate 1006 (e.g., leading to a milking parlor)and an isolated cow 110-2 not facing the gate. A user can press on theimage of cow 110-2 with a finger 1008, depicted in FIG. 11A by brokenlines, which can automatically activate the retrieval functionality ofsystem 100 to retrieve selected cow 110-2.

In another embodiment, shown schematically in FIG. 11B, system 100computer 125 can generate a graphic display of cows 110 in the cowshed.In the display in FIG. 11, moving cows 110-1 are depicted by havingarrowheads, preferably indicating the direction of movement, whereasstationary cows 110-2 and cow 110-3 lack arrowheads. A user can identifyand mark a stationary cow such as cow 110-3 with, for example,cross-hairs 1010, employing a finger (e.g., on a touch screen) or byusing keyboard arrows, a mouse or a joystick, which can automaticallyactivate the retrieval functionality of system 100 to retrieve selectedcow 110-2.

It will also be appreciated by persons skilled in the art that thepresent method and apparatus are not limited to what has beenparticularly shown and described hereinabove. Rather, the scope of themethod and apparatus includes both combinations and sub-combinations ofvarious features described hereinabove as well as modifications andvariations thereof which would occur to a person skilled in the art uponreading the foregoing description and which are not in the prior art.

It is another object of the present invention to disclose the system asdefined above, wherein, based upon the location of said animal, anautomatic entrance into and out of said milking parlor is provided.

It is another object of the present invention to disclose the system asdefined above, wherein, once a predetermined quantity of said milk ismilked from said animal or after a predetermined amount of time, anautomatic release of said animal from said milking parlor is provided.

1. A system for locating the position of at least one animal within apredetermined region of space, said system comprising: at least oneidentification means configured to transmit at least one identificationsignal associated with said at least one animal; at least one locatingmeans configured to generate at least one location signal associatedwith said at least one animal; and, a data processing system incommunication with said at least one identification means and said atleast one location means, configured to analyze said signals, saidanalyzed signals comprising the position within said predeterminedregion of space of said at least one animal as a function of time;wherein said data processing system is configured to integrate over timemultiple readings from said at least one first animal to make a reliableestimation of said location of said animal within said predeterminedregion of space.
 2. The system according to claim 1, wherein said regionof space is selected from the group consisting of a milking parlorcomprising n milking cells (n>1), a headlock system comprising nheadlock cells (n>1), a barn, a shed, a field, and any combinationthereof.
 3. The system according to claim 2, wherein: if said region ofspace is a milking parlor, said position is at least one of said nmilking cells within said milking parlor; and, if said region of spaceis a headlock system, said position is one of said n headlock cellswithin said headlock system.
 4. The system according to claim 2,wherein: if said region of space is a milking parlor, said system isconfigured to identify said position of said at least one animal withoutuse of location means associated with each of said n milking cellswithin said milking parlor; and, if said region of space is a headlocksystem, said system is configured said position of said at least oneanimal without use of location means associated with each of said nheadlock cells within said headlock system.
 5. The system according toclaim 2, wherein said data processing system, based on said locationsignals and said identification signal, is configured to provide: ifsaid region of space is a milking parlor, said n milking cell in whichsaid animal is positioned; and, if said region of space is a headlocksystem, said n headlock cell in which said animal is positioned.
 6. Thesystem according to claim 2, wherein said region of space is a milkingparlor and, for each said at least one animal, said system is configuredto make a determination selected from the group consisting of: that saidindividual animal has entered said milking parlor; that said individualanimal has entered a milking stall; the stall in which said individualanimal is milked; that said individual animal has left said milkingstall; that said individual animal has left said milking parlor; thevalue of a parameter selected from the group consisting of: the timesaid individual animal enters said milking parlor; the time saidindividual animal enters said milking stall; the time said individualanimal leaves said milking stall; the time said individual animal leavessaid milking parlor; the amount of time said individual animal is insaid parlor; the amount of time said individual animal is in saidmilking stall; the amount of milk given by said individual animal; thenumber of animals in said milking parlor at any time; and, anycombination thereof; and, any combination thereof.
 7. The systemaccording to claim 1, wherein at least one of the following is true:said identification means is selected from the group consisting of atag, an implantable transponder, a bolus, a microchip, an RFID tag, andany combination thereof; said identification means is associated withsaid at least one animal by a means selected from the group consistingof being worn on a collar, being coupled to the nasal area of saidanimal, being worn on a body band, attached to said animal, implantedwithin said animal, held within said animal's digestive system, heldwithin said animal's reproductive system, held within said animal'surinary system, and any combination thereof.
 8. The system according toclaim 1, wherein said at least one locating means is selected from thegroup consisting of: locating means comprising at least one RFtransmitter and at least one RF receiver; and, locating means comprisingat least one ultra-wide-band (UWB) transmitter and at least one UWBreceiver.
 9. The system according to claim 1, wherein said animal isselected from the group consisting of cows, sheep, goats, horses,buffalo, bison, camels, donkeys, mules, swine, deer, elk, llamas,domestic animals, pets, dogs, cats, and alpacas.
 10. The systemaccording to claim 1, wherein said system comprises sensors.
 11. Thesystem according to claim 11, wherein at least one of the following istrue: said sensors are located in a position selected from the groupconsisting of: on a milking robot, on a milking stall, on a cattlestall, and any combination thereof; said sensors are selected from thegroup consisting of: heat sensors, pressure sensors, temperaturesensors, flow sensors, fat sensors, protein sensors, light sensors, andany combination thereof; said sensors are configured to measure at leastone parameter selected from the group consisting of: body temperature ofsaid animal; temperature of a quarter of said animal; flow rate of milk;milk temperature; fat content of milk; opacity of milk; protein contentof milk; weight of said animal; amount of milk removed from a cow duringa predetermined period of time; flow rate of milk being removed from acow; and, milk quality, wherein said system is configured to determinemilk quality from at least one parameter selected from the groupconsisting of light transmission through said milk; specific gravity ofsaid milk; amount of sugar in said milk; amount of fat in said milk;and, amount of protein in said milk; and, further wherein said systemoptionally additionally comprises milking discontinuation meansconfigured to discontinue milking at such time as there has occurred atleast one condition selected from the group consisting of: an amount ofmilk removed from said cow is substantially equal to a predeterminedamount; said animal has yielded a quantity of said milk substantiallyequal to an average quantity from previous milkings; and, said flow rateof said milk has decreased by at least a predetermined amount.
 12. Thesystem according to claim 1, wherein said system comprises a mechanismfor informing a user of at least one parameter selected from the groupconsisting of identity of said animal; said at least one animal'sposition; change in said at least one animal's position; said animal'sposition with respect to a fixed object; change in said animal'sposition with respect to a fixed object; said animal's position relativeto a moving object; change in said animal's position relative to amoving object; location of said animal relative to said user; how saidanimal walks; change in how said animal walks; how fast said animalwalks; change in how fast said animal walks; health status of saidanimal; behavioral status of said animal; behavior of said animal;change in behavior of said animal; behavior pattern of said animal;change in behavior pattern of said animal; location of said at least oneanimal at any given time; relative locations of at least two saidanimals; distance between said individual animal and at least one otheranimal; average distance between said individual animal and apredetermined group of animals; average distance between two animals insaid predetermined group of animals; and any combination thereof. 13.The system according to claim 1, wherein said data processing system isconfigured to integrate over time multiple readings from an animaladjacent to said at least one first animal to make a reliable estimationof said location of said animal within said predetermined region ofspace.
 14. The system according to claim 1, wherein at least one of thefollowing is true: said system comprises an indicator mechanismconfigured to notify a user that intervention is needed for said atleast one animal; said system comprises an indicator mechanismconfigured to notify a user that intervention is needed for a reasonselected from the group consisting of: said animal's condition iscurrently not normal, milking completed, animal fighting, and anycombination thereof; said system comprises an indicator mechanismconfigured to notify a user that intervention is needed for said atleast one animal and to provide a unique signal associated with eachdifferent reason for said intervention; and, said indicator isconfigured to notify a user that intervention is needed for said atleast one animal and to provide a signal that changes as the distancebetween said animal and a user changes.
 15. The system according toclaim 1, wherein said system comprises an animal retrieval systemcomprising: at least one elevated rail placed at a height unreachable bysaid animal; at least one first trolley translatable at least along saidelevated rail; at least one low-level mobile maneuvering device, saidlow-level mobile maneuvering device configured to move along at leastone of a group consisting of a floor and the ground; at least one secondtrolley attachable to said low-level mobile maneuvering device; and, atleast one animal stimulating device operative to stimulate said animalto move towards a desired location, said animal stimulating deviceattachable to said low-level mobile maneuvering device.
 16. The systemaccording to claim 15, wherein at least one of the following is true:said system comprises at least one motor propelling said first trolleyalong said rail and at least one controller operative to activate saidmotor; said low-level mobile maneuvering device is movable on a memberselected from the group consisting of at least one wheel, an air-cushionlevitation device, a magnetic levitation device, and any combinationthereof; said animal stimulating device is selected from a groupconsisting of a speaker, a low voltage electrical conducting wire, anair gun, a rotating bullwhip, a water gun, a soft ball on a tether, ananimal driving fence and any combination thereof; at least one of saidfirst trolley and said second trolley comprises a member selected fromthe group consisting of a carrier arm, an air compressor and anycombination thereof; said system is configured to drive at least one ofsaid first trolley and said second trolley to the location of saidanimal; to activate said animal stimulation device; and to stimulatesaid animal so as to urge said animal to move towards a desiredlocation; said system is configured to receive a destination locationfor the animal and to automatically drive said animal from its currentlocation to said destination location; said first trolley is alsotranslatable across a bridge between two or more elevated rails, saidbridge being translatable along said rails; said first trolley hashovering capabilities and is at least partially independent of saidrails; said desired location is at least one of a milking parlor, agateway, a chute, a pathway and a truck; said system comprises a cowlatching mechanism comprising a latch reversibly engageable with a latchreceiver attached to a collar of a cow; and optionally, detaching meansconfigured to detach said latch and said latch receiver so as to preventinjury to cow should said cow begin to resist and to develop aberrantbehavior; said system comprises comprising imaging means configured toprovide a real time image of said cows; said system is configured toperform an action selected from the group consisting of: generate analert, activate system functionality and any combination thereof in atleast one circumstance selected from a group consisting of: a cow isidentified as missing from said milking parlor during a predeterminedtime slot; a cow is statistically late or missing from the milkingparlor; a daily milking schedule of the dairy farm resident cowsdetermines that a cow should be moved to the milking parlor, and anycombination thereof; and, said system is configured to activate said cowretrieval system functionality.
 17. The system according to claim 16,wherein said system comprises imaging means configured to provide a realtime image of said cows, and said imaging means are configured such thatpressure on an image of a cow produced by said imaging means activatessaid system retrieval functionality so as to initiate retrieval of saidselected cow.
 18. A method for locating the position of at least oneanimal in a predetermined region of space, comprising: providing asystem for locating the position of said at least two animals, saidsystem comprising: for each of said at least two animals, at least oneidentification means, each said at least one identification meansconfigured to transmit at least one identification signal associatedwith each said at least two animals; at least one locating meansconfigured to generate at least one location signal associated with eachof said at least two animals; and, a data processing system incommunication with said at least one identification means and said atleast one locating means, configured to analyze said signals, saidanalyzed signals comprising the position within said predeterminedregion of space of each of said at least two animals as a function oftime; transmitting each said at least one identification signal;generating said at least one location signal for each of said at leasttwo animals; and analyzing each said at least one identification signaland said at least one location signal for each of said at least twoanimals; and, integrating multiple readings from said animal and atleast one adjacent animal over time to make a reliable estimation ofsaid predetermined region of space; thereby determining the positionwithin said predetermined region of space of each said at least twoanimals as a function of time.
 19. The method according to claim 18,wherein said region of space is selected from the group consisting of amilking parlor, a headlock system, a barn, a shed, a field, and anycombination thereof.
 20. The method according to claim 19, wherein saidposition is at least one of n milking cells within said milking parlor,or n headlock cell within said headlock system, wherein n is an integergreater than one.